基于D-H位移矩阵法的溢油回收系统扫油臂运动学建模

Kinematic Modeling for Telescopic Jib Arm of Oil Spill Recorvery System Based on D-H Displacement Matrix Method

为实现溢油回收系统扫油臂机构的精准运动控制,运用D-H位移矩阵法建立了扫油臂机构运动学模型。根据变量的性质,将扫油臂机构分为驱动空间、关节空间、位姿空间;从运动学问题求解出发,利用机构的几何特征,分别推导出各工作空间之间的映射关系。在建立运动学模型基础上,进行了Matlab仿真,验证了所建数学模型的正确性和精确性,为扫油臂机构合理设计和运动点轨迹规划提供了一种高效便捷的方法。

The kinematic model was established using the D-H displacement matrix method in order to achieve accu rate kinematic control for telescopic jib arm mechanisms of the oil spill recorvery system. The mechanisms were di vided into actuator space,joint space and pose space according to the properties of the variables. Each mapping rela tionships among the three kinds of space was figured out respectively for the kinematics utilizing the geometrical characteristic of the mechanisms. The result provides the theoretical basis for kinematics point trajectory planning and kinematic simulation as well as dynamic analysis of telescopic jib arm clamping device.