摘要
为解决核电站检修期间人力操作面临的安全与效率问题,设计出一种通过协作机械臂与伺服电缸相配合的八自由度机器人模型。通过对该模型建立关节坐标系,根据D-H参数法建立检修机器人的两种运动方程。建立检修机器人的D-H参数模型,进行正逆运动学求解;并利用matlab软件中的工具箱Robotics Toolbox进行运动分析,从而更好地对检修机器人的实际应用做出重要参考。
In order to solve the problems of safety and efficiency of human operation during maintenance of nuclear power plants,a robot model with eight degrees of freedom(DOF)is designed by means of a cooperative manipulator and a servo cylinder.By establishing joint coordinate system for the model,two kinds of kinematic equations of maintenance robot are established according to the D-H parameter method.The D-H parameter model of maintenance robot is established and then its forward inverse kinematics is solved;the motion analysis is conducted by using the Robotics Toolbox in matlab,so as to better provide an important reference for the practical application of maintenance robot.
作者
王宠
王湘江
冯栋彦
WANG Chong;WANG Xiang-jiang;FENG Dong-yan(School of Mechanical Engineering,University of South China,Hengyang Hunan 421009,China)
出处
《机械研究与应用》
2020年第6期18-20,共3页
Mechanical Research & Application
关键词
蒸汽发生器
八自由度
正逆运动学
轨迹规划
steam generator
eight degrees of freedom
forward inverse kinematics
trajectory planning
