摘要
以QY-7t型重箱转载机械臂为研究对象,绘制了其三维结构图,阐释了各关节的运动特点,基于标准的D-H参数建模法确定了各关节坐标系及参数表,推导了机械臂的正、逆运动学方程,列示了逆解唯一性的程序求解原理图,并结合所建立的运动学方程,验证了机械臂末端位置能够满足其作业要求。
The QY-7t Container Transport Manipulator was taken for an example of study. Its three-dimensional （3D） structure was drawn, the movement characteristics of each joint were explained, each coordinate and parameters were determined based on the D-H parametric modeling method, then forward and inverse kinematics equation of manipulator was derived, and the uniqueness sche- matic program of inverse equation was shown. It is verified that the manipulator can meet its operational requirements according to the kinematics equation established.
出处
《机床与液压》
北大核心
2017年第5期47-50,共4页
Machine Tool & Hydraulics
基金
东莞职业技术学院2016年政校行企项目(政201601)
"政校行企"协同创新平台建设项目(ZXHQ20162002)
关键词
机械臂
D-H模型
运动学方程
轨迹规划
Manipulator
D-H model
Kinematics equation
Trajectory planning
