基于MATLAB的7自由度液压重载机械臂的工作空间分析

Workspace analysis of 7-DOF hydraulic heavy-load manipulator based on MATLAB

设计了一种新型的7自由度液压重载机械臂装置,该机械臂装置用于更换和安装大型磨机衬板,针对7自由度液压重载机械臂,首先在三维软件完成对机械臂的结构设计,利用D-H坐标法完成对机械臂的运动学建模,在MATLAB编制驱动函数完成运动学仿真,能够得出机械臂在空间中的运动轨迹并且能够验证运动学模型的正确性.在运动模型建立正确的基础上,借助软件利用蒙特卡洛法能够分析出机械臂末端执行机构的工作空间云图,得到执行机构的极限工作位姿,为机械臂在实际中的应用提供了理论依据.

A new type of 7-DOF hydraulic heavy-duty manipulator is designed.The manipulator is used to replace and install the lining plate of a large mill.Aiming at the 7-DOF hydraulic heavy-duty manipulator,the structural design of the manipulator is completed in three-dimensional software at first,the kinematics model of the manipulator is established by D-H coordinate method,and the drive is programmed in MATLAB.The function completes the kinematics simulation,and can get the trajectory of the manipulator in space and verify the correctness of the kinematics model.Based on the correct motion model,the workspace cloud of the end-effector of the manipulator can be analyzed by using Monte Carlo method with the help of software,and the extreme working posture of the actuator can be obtained,which provides a theoretical basis for the practical application of the manipulator.