管内异物抓取机械手机构设计与运动学研究

Designe of nubby object grasping manipulator's mechanism and research on its kinematics

通过对管内异物抓取机械手的型综合,确定了该机械手为三自由度关节型机械手。建立了机械手的D-H坐标系,进而通过齐次变换得出机械手的正运动学方程,并采用反变换法得出机械手的逆运动学方程。利用微分变换法得到机械手的雅可比矩阵。最后通过仿真验证了机械手结构设计的合理性、运动学方程建立的正确性,为机械手的进一步理论研究奠定了基础。

A joint type manipulator with 3-DOF was used as the nubby object grasping manipulator on the in-pipe robot. It built the D-H coordinate of grasping manipulator,obtained the Kinematical equations by homogeneous transformation and inverse Kinematical equations by inverse method. It also obtained jacobian matrix of grasping manipulator by differential transformation method. Then the feasibility of structural design of the manipulator was proved by simulation testing. All of these established a foundation for more theory study.