摘要
针对在公交车体内部作业的7自由度排爆机械臂进行研究,利用三维建模软件对冗余自由度排爆机械手进行建模,使用D-H法对机械手臂建立坐标系,对机械手的位姿进行正运动学分析并建立手臂末端位姿矩阵。利用蒙特卡洛法对手臂末端作业空间进行研究,使用MATLAB软件进行仿真绘制出手臂末端在车体内部的点阵图,分析手臂末端作业空间和盲区,研究目标空间与作业空间的关系,为避免在盲区中作业提出手臂使用的优化方案。
Research is aimed at the 7 degrees of freedom（ DOF） of Explosive Ordnance Disposal（ EOD） manipulator which working inside the bus. Redundant dimensional modeling of the manipulator was made use of three-dimensional（ 3-D） modeling software to create a coordinate system in the foundation of D-H theory,positive kinematics analysis of the manipulator was carried out,and the pose matrix of the manipulator was set up. Research was carried out of workspace of the end of manipulator using Monte Carlo method,under the environment of MATLAB drawing a figure of bitmap of the manipulator,the workspace and operating blind spot of the end of manipulator were analyzed. The relationship between target space and work space is made out by research,which puts forward an optimization in the use of robotic arm to avoid a blind spot.
作者
霍平
王虹凯
HUO Ping;WANG Hongkai(School of Mechanical Engineering,North China University of Science and Technology,Tangshan Hebei 063200,China;Hebei Robot Industrial Technology Research Institute,Tangshan Hebei 063200,China)
出处
《机床与液压》
北大核心
2018年第11期58-61,114,共5页
Machine Tool & Hydraulics
关键词
冗余自由度
排爆
作业盲区
蒙特卡洛法
Redundancy DOF
EOD
Operating blind spot
Monte Carlo method
