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QY7t型重箱转载机械臂的运动学求解与分析
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东莞职业技术学院2016年政校行企项目(政201601);“政校行企”协同创新平台建设项目(ZXHQ20162002)


Kinematics Solving and Analysis of QY7t Heavy Container Transport Manipulator
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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,推导了机械臂的正、逆运动学方程,列示了逆解唯一性的程序求解原理图,并结合所建立的运动学方程,验证了机械臂末端位置能够满足其作业要求。

    Abstract:

    The QY7t Container Transport Manipulator was taken for an example of study. Its threedimensional (3D) structure was drawn, the movement characteristics of each joint were explained, each coordinate and parameters were determined based on the DH parametric modeling method, then forward and inverse kinematics equation of manipulator was derived, and the uniqueness schematic program of inverse equation was shown. It is verified that the manipulator can meet its operational requirements according to the kinematics equation established.

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舒雨锋,范四立,熊长炜. QY7t型重箱转载机械臂的运动学求解与分析[J].机床与液压,2017,45(5):47-50.
. Kinematics Solving and Analysis of QY7t Heavy Container Transport Manipulator[J]. Machine Tool & Hydraulics,2017,45(5):47-50

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  • 在线发布日期: 2017-05-09
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