摘要
首先,将UR5机械臂搭载在差速驱动式移动平台上,组成移动操作机器人系统,同时,建立移动平台三维模型,对关键零部件进行有限元分析;其次,建立移动操作机器人系统差速驱动模型和UR5机械臂正逆运动学模型,并得到移动操作机器人在速度层整体运动学模型;最后,利用蒙特卡洛法分析机械臂工作空间,对其作业灵巧度指标进行评估.
Firstly,the UR5 robotic arm is mounted on a differential-driven mobile platform to form a mobile operating robot system.At the same time,a three-dimensional model of the mobile platform is established to perform finite element analysis on key components.Secondly,a differential driving model of the mobile operating robot system is established.And the forward and inverse kinematics model of the UR5 manipulator,and the overall kinematics model of the mobile operating robot in the velocity layer.Finally,the Monte Carlo method is used to analyze the manipulator workspace and evaluate its operational dexterity index.
作者
黄安贻
姚迪
杨文林
张弓
李亚峰
HUANG Anyi;YAO di;YANG Wenlin;ZHANG Gong;LI Yafeng(College of Mechanical and Electrical Engineering,Wuhan University of Technology,Wuhan 430070;Institute of Advanced Technology,Guangzhou Academy of Chinese Sciences,Guangzhou 511458)
出处
《现代制造技术与装备》
2019年第7期28-31,共4页
Modern Manufacturing Technology and Equipment
基金
广东省“珠江人才计划”引进创新创业团队专项(2014ZT05G132)
