| 重箱转载机械臂的运动学建模与仿真 |
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| 引用本文： | 舒雨锋,熊长炜,范四立.重箱转载机械臂的运动学建模与仿真[J].机床与液压,2017,45(17):73-77. |
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| 作者姓名： | 舒雨锋 熊长炜 范四立 |
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| 作者单位： | 1. 东莞职业技术学院机电工程系, 广东东莞523808;华中科技大学机械科学与工程学院, 湖北武汉430074;2. 东莞职业技术学院机电工程系,广东东莞,523808 |
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| 基金项目： | 东莞职业技术学院2016年政校行企项目，"政校行企"协同创新平台建设项目 |
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| 摘 要： | 以QY-7t型重箱转载机械臂为研究对象,绘制了其三维结构图,阐释了各关节的运动特点,基于标准的D-H参数建模法确定了各关节坐标系及参数表,建立了机械臂的正运动学数学模型及仿真模型,并对模型进行了数值验证。在此基础上,应用MATLAB/Robotics工具箱进行了运动学仿真,结果表明:该机械臂结构参数设计的合理性,各关节在运动过程中并无冲击、骤变等现象。
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| 关 键 词： | 机械臂 D-H模型 运动学方程 仿真 |
Kinematics Modeling and Simulation of Heavy Container Transport Manipulator |
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| SHU Yufeng,XIONG Changwei,FAN Sili.Kinematics Modeling and Simulation of Heavy Container Transport Manipulator[J].Machine Tool & Hydraulics,2017,45(17):73-77. |
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| Authors: | SHU Yufeng XIONG Changwei FAN Sili |
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| Abstract: | The QY-7t heavy container transport manipulator is taken as an example of study .Its three-dimensional ( 3D) structure was drawn up , the movement characteristics of each joint were explained , each coordinate and parameters were determined based the D-H parametric modeling method , and the forward kinematics equation and simulation model were established , then a numerical valida-tion of the models was carried out .Based on this , kinematics simulation was conducted in application of the MATLAB /Robotics toolbox . The results verify the design of manipulator structure parameters is reasonable , and each joint does not appear impact and sudden change during motion process . |
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| Keywords: | Manipulator D-H Model Kinematics equation Simulation |
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