文章摘要
杨帆,吴贺利,罗晨晖.一种三自由度机械臂的设计与分析[J].机床与液压,2018,46(9):89-92.
.Design and Analysis of a Three Degree of Freedom Manipulator[J].Machine Tool & Hydraulics,2018,46(9):89-92
一种三自由度机械臂的设计与分析
Design and Analysis of a Three Degree of Freedom Manipulator
  
DOI:10.3969/j.issn.1001-3881.2018.09.021
中文关键词: 机械臂  D-H坐标系  蒙特卡洛法  工作空间
英文关键词: Manipulator  D-H coordinate  Monte Carlo method  Workspace
基金项目:
作者单位E-mail
杨帆 武汉科技大学城市学院机电学部 yangfan@wic.edu.cn 
吴贺利 武汉科技大学城市学院机电学部  
罗晨晖 武汉科技大学城市学院机电学部  
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中文摘要:
      设计了一种通用型三自由度机械臂,该机械臂的3个转动自由度相互垂直。详细设计了各关节的传动方案,并建立了系统的三维模型。根据机械臂的结构特点,建立了机械臂的D-H坐标系,对其进行正运动学分析。最后利用蒙特卡洛法对该机械臂的工作空间进行分析,得到机械臂末段执行器的工作空间,仿真结果与机械臂的设计参数相符,为该机械臂的优化设计及逆运动学分析奠定了基础。
英文摘要:
      A general robot with three degree of freedoms (DOFs) is designed and the DOFs are mutual vertical. First, the transmission schemes of each joint were detailed designed according to the requirements and the three-dimensional (3D) model of the system was built. Second, according to the structural characteristics of the manipulator, the Denavit-Hartenberg (D-H) coordinate was obtained and its forward kinematics analysis was done. Last, the Monte Carlo method was applied to analyze the manipulator workspace, and the workspace range of the manipulator end actuator acquired. The simulation result is consistent with the design parameters of the manipulator, which will make a well foundation for the optimal design and inverse kinematics analyses of the manipulator.
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