面向变电站地电波检测的机械臂运动学研究

Kinematic Research of Mechanical Arm for Substation Ground Wave Detection

研究了面向变电站地电波检测的机械臂运动学建模、仿真与分析。基于D-H法建立了地电波检测机械臂各连杆坐标系,进行运动学计算得到了运动学代数解,建立了地电波检测机械臂的运动学模型。最后分析得到了实际工作空间的三维离散点云图形和投影图形,并对结果进行了讨论。采用五次多项式插值算法对机械臂关节空间进行轨迹规划,并根据其输入的关节空间目标点,得到了其关节角度、速度、加速度、力矩轨迹曲线。

The kinematic modeling,simulation and analysis of the mechanical arm for ground wave detection in substations are studied.Based on D-H method,the coordinate system of each connecting rod of the ground wave detection mechanical arm was formulated,the kinematics algebraic solution was obtained through kinematic calculation,and the kinematic model of the ground wave detection robotic arm was established.Finally,the three-dimensional discrete point cloud and projection graphs of the actual workspace are achieved,and the results are analyzed.The trajectory planning of the joint space is conducted by using the fifth degree polynomial interpolation algorithm,and the trajectory curves of the joint angle,velocity,acceleration and moment are obtained according to the input target points of the joint space.