摘要
带有混合铰链结构的串联型工业机器人在使用D-H方法进行运动学分析时,部分杆件参数难以确定。针对该问题,提出了一种获取杆件参数的方法,分别将复杂关节部分等效处理成转动副或者移动副,以此构建机器人的运动学模型,并使用基于Matlab的Robotics Toolbox进行仿真,最后分析了此改进方法的特点。从仿真试验可以得出,此方法可提高D-H方法对复杂杆件结构机器人的适应性,有效地解决其运动学分析问题。
It is hard to determin parameters when the kinematics of series industrial robot with hybrid hinge structure is analyzed by D-H method.To solve this problem,an acquiring parameter method is presented which transforms complicated joint into revolute pair or mobil pair,also builds a kinematics model and then simulates with Robotics Toolbox based on Matlab（R）.At last the characteristics of this improved method are analyzed.From the result of simulation experiment,this method can improve D-H＇s adaptability for complicated structure and give an effective solution to this kind of kinematics analysis problem.
出处
《机械设计与研究》
CSCD
北大核心
2013年第5期7-10,共4页
Machine Design And Research
基金
国家高技术研究发展计划(863计划)资助项目(2011AA04A105)
上海市科学技术委员会重点资助科技攻关项目(12111101004)
