一类大型机械摇臂的运动学分析

Kinematic Analysis for a Kind of Large Mechanical Swing Arm

关节型机械臂作为工业机器人的一种主要实现形式,在越来越多的场合获得了广泛应用。文章针对一类模拟测试系统的应用需求,基于关节型机械臂的机构形式,通过对关节排布方式的优化,实现了摇臂末端负载位姿与摇臂本体间的解耦,并对系统进行了运动学分析和建模,得出了各轴角度的解算方法,最后,通过仿真计算验证了算法的有效性。

As a main realization form of industrial robot,articulated manipulator has been widely used in many fields.Aiming at the application requirement for a kind of simulation test system,the arrangement mode of joints is optimized to realize the decoupling of the swing arm noumenon and the lord at the end of the swing arm,based on the mechanical structure of articulated manipulator,and the kinematics analysis and modeling is completed to obtain the solving method of each joint.Finally,the simulation results verify the effectiveness of the algorithm.