6R选矸机械臂运动学仿真分析

Kinematics Simulation Analysis of 6R Gangue Selecting Manipulator

提出一种通过抓取非煤物质实现煤矸分离的6R选矸机械臂。运用D-H方法在直角坐标系下建立其运动学模型并完成运动学方程的推导,得到机械臂末端执行机构位姿和关节旋转角度的关系。利用Monte Carlo法完成对机械臂工作空间的求解,并利用MATLAB和ADAMS在工作空间内进行运动学联合仿真,得出各关节角度变化曲线和末端执行机构质心位置变化曲线。结果表明,6R选矸机械臂的结构设计合理可靠,所求解出的运动学理论方程准确,满足机械臂从点A(0.1028,0.0975,0)运动到点B(0.0828,0.0775,0.030)的需求。

Proposed a 6R gangue selecting manipulator which can realize coal gangue separation by grabbing non-coal materials.The D-H method was used to establish its kinematics model in the cartesian coordinate system and complete the derivation of the kinematics equations to obtain the relationship between the posture of the end actuator of the manipulator and the rotation angle of the joint.The Monte Carlo method was used to complete the solution of the manipulator workspace,and MATLAB and ADAMS were used to perform kinematics co-simulation in the workspace to obtain the angle change curve of each joint and the end centroid position change curve.The results show that the structure design of the 6R gangue selecting manipulator is reasonable and reliable,and the solved kinematics theory equation is accurate,which satisfies the movement of the manipulator from space coordinate point A(0.1028,0.0975,0)to space coordinate point B(0.0828,0.0775,0.030)demand.