摘要
以人形竞赛机器人机械手臂设计出发,首先分析机械手臂的功能与动作情况、以及人类手臂关节构成,据此设计3自由度人形竞赛机器人机械手臂;第二,采用D-H方法,从结构的角度简化坐标系建立的方式,确定D-H参数,分析得出机械手臂的正运动学方程;第三是采用几何方法与解析求解法相结合的方式进行逆运动学求解;最后,在MATLAB平台中采用蒙特卡洛方法分析机械手臂的工作空间验证求解结果,结果显示设计的机械手臂满足竞赛的工作空间要求。
To design a robot arm for the competition intelligent humanoid robot,firstly,the function and movement of the robot arm,as well as the composition and main functions of the human arm joints are analyzed.Based on this,the mechanism sketch of the humanoid robot 3-DOF arm is designed;Secondly,the D-H method is used to establish an innovative simplified coordinate system,the D-H parameters are determined,and the forward kinematics equation of the arm is analyzed;Thirdly,inverse kinematics is analyzed,the first joint parameter 01 is solved by geometric method,and the parameters of the 2nd and 3rd joints are solved by analytical solution based on the results of forward kinematics;Finally,the workspace of the manipulator is analyzed by Monte Carlo method,and the algorithm is programmed by MATLAB numerical calculation platform.The results show that the designed manipulator meets the workspace requirements of the competition.
作者
田亚铃
王强
苏睿
杨婷
李媛
TIAN Yaling;WANG Qiang;SU Rui;YANG Ting;LI Yuan(Chengdu Technological University,Chengdu 611730,China)
出处
《成都航空职业技术学院学报》
2023年第1期59-61,92,共4页
Journal of Chengdu Aeronautic Polytechnic
基金
四川省科技计划重点研发项目“高原山地无人机放牧系统开发”(2020YFN0027)
成都工业学院“基于视觉技术引导的机器人定位抓取技术研究”(2022ZR016)
“新工科背景下新专业建设路径探索与实践——以机器人专业为例”(20210319)。
