摘要
工作空间是衡量机器人工作能力的一个重要运动学指标。采用蒙特卡洛法和定步距角步长法分析井下排爆机器人机械臂的工作空间。给出了机械臂的基本结构,并对其运动模型进行简化;对机械臂进行了运动学分析;采用蒙特卡洛法和定步距角步长法分析该机械臂的工作空间,给出了机械臂末端的工作空间点云图。结果表明,排爆机械手工作空间内部工作点密集且分布均匀,能够满足作业要求。蒙特卡洛法求解速度快,能够简单而又形象地描绘出机械手的工作空间。
Workspace is one of the most important kinematics parameters to evaluate the ability of a robot. Two numerical methods, Monte Carlo method and fixed-step-angle method, were applied to analyze the workspace of the manipulator of an underground explosive ordnance disposal （EOD） robot. Firstly, main structure of the manipulator was given and its kinematical model was simplified. And then, its kinematics analysis was carried out. Based on them, the workspace of the manipulator was analyzed separately by Monte Carlo method and fixed-step-angle method, and the cloud picture of the end of the manipulator was completed. The results showed that the working points in the workspace of the EOD manipulator distributed compactly and uniformly, which satisfied the operation requirements of the robot.
出处
《矿山机械》
北大核心
2012年第9期105-108,共4页
Mining & Processing Equipment
基金
陕西省教育厅专项科学研究项目(11JK0874)
西安科技大学博士启动金项目(2010QDJ040)
西安科技大学科研培育基金项目(201121)
