摘要
针对开发出的一种基于PLC控制的5自由度机械手实验平台,进行了运动学分析。通过运动学分析,可以得到各关节运动参数与机械手末端的手爪位姿之间的数学模型,从而实现对工件的准确抓取。对机械手的运动学分析,不仅可以在实验中演示各种状态下的抓取动作,而且使学生掌握机械手运动学的分析方法。
The kinematics analysis of a 5-DOF manipulator experimental platform based on PLC control is carried out.Through the kinematics analysis,the mathematical model between the motion parameters of each joint and the position&posture of the end of the manipulator can be obtained,so as to grasp the workpiece accurately.Upon the kinematics analysis of manipulator,it can not only demonstrate the grasping action in various states in the experiment,but also make students master the analysis method of manipulator kinematics.
作者
肖国红
纪志飞
弓清忠
XIAO Guo-hong;JI Zhi-fei;GONG Qing-zhong(School of Mechanical and Energy engineering,Jimei University,Xiamen 361021,China)
出处
《内燃机与配件》
2020年第22期223-224,共2页
Internal Combustion Engine & Parts
基金
福建省教育厅项目(FBJG20170114,JAT160252)
福建省科技厅项目(JK2016023)。
关键词
5自由度机械手
实验平台
运动学分析
5-DOF manipulator
experimental platform
kinematics analysis
