三个自由度的机械臂运动优化模型

Optimization Model about Design of Robotic Arms with Three Degrees of Freedom

随着高科技在生产、生活中的发展,机器人技术已经成为研究热点.多关节机械臂是机器人最重要的执行机构.文章主要针对具有三个转动节点的机械臂的运动进行.这种机械臂依靠节点的转动来移动机械爪从而达到抓取东西的目的.我们利用优化的思想及空间坐标转换对这种机械臂的运动在无障碍物和有障碍物的情况分别建立了数学模型.数值实验结果表明文章所建立的优化模型具有一定的实用性和有效性.

With the development of high technology, Robotics technology gets more and more attention. Robotic arms play a core role in robots. This paper focuses on designing a prima- ry robotic arm which consists of three rotation nodes rotating in a same plane. When operating, this robotic arm can move with the help of these three nodes. We design two models considering two different operation environments： without obstacles and with obstacles. Finally, the compu- tational results show the model is applicable and effective.