摘要
CMOR是一种应用于未来聚变堆部件维护的9自由度冗余重载机械臂系统首先介绍了重载机械臂构型,利用D-H法建立冗余重载机械臂坐标系,对机械臂的正运动学和逆运动学进行求解并在Matlab完成仿真;然后基于蒙特卡罗法在Matlab中计算了机械臂的工作空间,仿真结果显示可达空间满足±45°要求;最后针对重载臂稳定运动要求,对机械臂关节空间进行规划轨迹并在Matlab中进行验证,仿真结果显示机械臂末端轨迹平滑,满足要求,为下一步的遥操作维护机械臂的轨迹规划等问题提供了理论依据,这对聚变反应装置的维护具有重要意义。
The CMOR is a 9-DOF redundant heavy-duty manipulator system applied to the maintenance of future fusion reactor components.Firstly,the configuration of the heavy-duty manipulator is introduced.The D-H method is used to establish the coordinate system of the redundant heavy-duty manipulator,and the forward kinematics and inverse kinematics of the manipulator are solved.Then the workspace of the manipulator is calculated in Matlab based on Monte Carlo method,and the simulation results show that the reachable space meets the requirement of±45°.Finally,according to the requirements of stable movement of the heavy-haul arm,the trajectory of the manipulator joint space is planned and verified in Matlab.The simulation results show that the trajectory of the manipulator end is smooth and meets the requirements.It provides theoretical basis for the trajectory planning of mechanical arm,and it is of great significance to the maintenance of fusion reactor.
作者
赵中旭
潘洪涛
程勇
樊玉琦
ZHAO Zhong-xu;PAN Hong-tao;CHENG Yong;FAN Yu-qi(School of Computer and Information Science,Hefei University of Technology,Hefei Anhui 230009,China;Institute of Plasma Physics,Chinese Academy of Sciences,Hefei Anhui 230009,China)
出处
《机械研究与应用》
2021年第3期16-20,共5页
Mechanical Research & Application
基金
国家重大科技基础设施建设项目:聚变堆主机关键系统综合研究设施(编号:2018-000052-73-01-001228)。
关键词
冗余重载机械臂
结构设计
工作空间
蒙特卡罗法
redundant heavy-duty manipulator
structural design
workspace
Monte Carlo method