一种四自由度水下机械手设计与运动学分析

Design and kinematic analysis of a four degree-of-freedom underwater manipulator

针对实验室现有水下机器人BlueRov2的工作要求,设计一种用于搭载水下机器人的四自由度水下机械手。通过SolidWorks构建机械手的三维模型。根据机械手的结构特点,采用D-H参数法建立机械手的坐标系,并对其进行正运动学和逆运动学分析。最后基于Matlab中的Robotics toolbox工具箱对机械手的运动状况进行仿真。图像表明连杆参数的设置及关节的转角范围合理,利用蒙特卡洛法计算的机械手工作空间可行。

According to the working requirements of underwater robot BlueRov2,an underwater manipulator with four degrees of freedom is designed to carry the robot.The 3D model of the manipulator is built through SolidWorks.According to the structural characteristics of the manipulator,D-H parameter method is used to establish the coordinate system of the manipulator,and forward/inverse kinematic analysis is carried out.By using Robotics Toolbox in Matlab,the motion status of the manipulator is simulated.The image shows that the parameters of the connecting rod and the angle range of the joint are reasonable,and the working space of the manipulator calculated by Monte-Carlo method is feasible.