摘要
根据护理机器人的工作特点和设计原则,提出两种不同的六自由度机器人构型,对两种模型建立了D-H运动学的分析方法,运用MATLAB求出正解,并代入初始值验证了正解的正确性。运用蒙特卡洛方法,借助MATLAB软件进行编程,得出两种模型工作空间/云图0,通过对比,得出一种构型的合理性,可以完成相应的动作要求,为后续工作奠定基础。
According to the working characteristic and design principle of nursing robot, two six DOF robot con- figurations are presented. For this two models, the D - H kinematics methods is established by using MATLAB soft- ware, the positive solution is solved and the validity is verified by substituting initial value. By using MATLAB soft- ware and Monte Carlo arithmetic, the mapping work space of the two models are achieved. By comparison, we will get one model is more reasonable than the other, it will fulfill the work easily, which will provide a theoretical reference for the robot.
出处
《机械传动》
CSCD
北大核心
2013年第12期80-82,共3页
Journal of Mechanical Transmission
基金
国家科技支撑计划(2012BAF06B02)
