一种六自由度分离体机构运动学分析及仿真

Kinematics Analysis and Simulation of a 6-DOF Separation Mechanism

针对风洞捕获轨迹试验六自由度分离体机构的结构和运动特点,以机器人D-H方法理论为基础,得到分离体机构的连杆坐标简图和运动学参数,建立了该分离体机构的运动学模型。采用矩阵变换得到运动学正解,并将正解得到的尾支杆处坐标系和分离体机构基坐标系的位姿关系通过变换矩阵转换成末端外挂物模型理论质心坐标系和风洞固定坐标系的位姿关系,然后利用变量分离法得到运动学逆解。最后,通过Matlab软件编写程序,所得结果与ADAMS软件运动学仿真结果进行比较,验证了理论推导的正确性。

According to the structure and motion features of the 6-DOF separation mechanism of the Captive Trajectory System, based on the theory of robot D-H method, the link frames and the kinematic parameters of separation mechanism were gotten and the kinematic model was built. The forward kinematics solution was derived by using matrix transformation method, and the pose relation between the tail sting coordinate system and base coordinate system of the separation mechanism was changed into the pose relation between the store coordinate system and the wind tunnel fixed coordinate system by using transformation the inverse kinematics solution. Finally, matrix, and then the separation of variable was used to solve through the Matlab software program, the results obtained with the ADAMS software kinematics simulation theoretical derivation. results were compared to verify the correctness of the