摘要
以六自由度机械臂作为研究对象,分析了机械臂机械结构特点,利用D-H法则完成了机械臂的运动学建模。采用蒙特卡洛法求解得出机械臂的工作空间,利用MATLAB绘制了该机械臂工作空间的三维点云图,并进行了位置分析。
In order to study the mechanical characteristics of the manipulator, the mechanical structure of the manipulator is analyzed by using the six degree of freedom series manipulator. The kinematics modeling of the manipulator is accomplished by using the D-H principle. The working space of the manipulator is solved by the Monte Carlo method, and the 3D point cloud image of the working space of the manipulator is drawn by MATLAB and the position analysis is carried out.
出处
《装备制造技术》
2016年第10期43-45,共3页
Equipment Manufacturing Technology
基金
天津职业技术师范大学创新基金(编号:YC16-11)
天津市智能制造科技重大专项(编号:15ZXZNGX00260)
关键词
六自由度机械臂
运动学建模
蒙特卡洛
工作空间
six degree of freedom manipulator
kinematics modeling
monte carlo
working space
