一种大臂偏置型7R机械臂的工作空间分析

Workspace Analysis of a 7R Manipulator with Link Offset

针对一种大臂偏置型七自由度机械臂,应用D-H法建立了该机械臂的位置正解模型并进行了求解。在此基础上,采用蒙特卡洛方法对该机械臂的工作空间进行了求解和分析,借助Matlab平台得到了该机械臂的末端工作空间,并用几何法进行了验证。研究结果表明了蒙特卡洛方法求解工作空间的正确性和有效性,对此类机械臂的工作空间分析具有一定的参考价值。

Aiming at a 7R manipulator with link offset at the shoulder,the forward position solution model is established by suing D- H method and the model is solved. Based on this,the workspace is studied and analyzed with Monte- Carlo method and the robotic workspace is drawn in Matlab software,meanwhile,the result is validated with geometric method. The result shows that Monte- Carlo method in solving the workspace of manipulator has its effectiveness and effectiveness,and it provides the reference for similar multi- joint manipulator.