一种四自由度操作臂机构设计

The Mechanical Agencies Design of Four Degrees of Freedom Manipulator

一种用于GIS设备检测的操作臂的机构设计,首先依据机构参数以及全局灵活性指标比较了各种关节构型组合的优缺点,从而得出了适合于这里的机械臂的构型方案,然后以力可操作度,加速度性能,灵活性为目标函数,建立了优化求解机械臂运动学尺寸的数学模型,最终通过MATLAB提供的非线性优化函数,完成机械臂前两个杆件尺度优化,,并仿真计算操作臂的机构性能指标。虽然是针对于任务需求设计的,但对于通用的四自由度机器人的设计,有一定的参考价值。

It mainly discusses the design method for a manipulator which is used for detecting,firstly we use Structure length parameters,Global flexibility to compare the advantages and disadvantages of all kinds of joints Configuration,thereby getting the joints Configuration which is suitable for the manipulator in this paper,Then in the view of force operational degrees,acceleration performance and flexibility building a mathematical model for solving the optimal manipulator kinematics size. Getting the first two links’ sizes of the manipulator by using matlab.At last the mechanism performance of the manipulator is simulated and calculated,Although this paper is designed for the mission requirements,but for the general design of the four degrees of freedom robot,there is a certain reference value.