水轮机叶形现场检测机械臂运动学研究

<title>Kinematics Study of in Situ Measuring Manipulator of Turbine Blades

介绍水轮机叶形检测多关节机械臂的主要结构特点及其工作原理。采用DH法建立该多关节机械臂完整的运动学模型,并给出了在各种情况下的运动学逆解。仿真结果证明了该运动学模型的正确性,逆解的完备性。

<Abstrcat>The main structure's characteristics and working principle of the multijoint measuring manipulator were introduced in this article.Integrated kinematics model was made by using method of DH,and all kinds of the inverse kinematics problems were also solved.Additionally, the kinematics model and the maturity of the inverse kinematics problems were both proved by the result of simulation.\;