摘要
文章介绍一种可用于小型管道和容器焊接以及内壁焊接质量检测的新型机械手——微电驱串联机械手,探索了一种实用的串联机械手工作空间域的仿真方法。通过机械手结构分析,建立机械手连杆坐标系,确定连杆参数,得到连杆变换的D-H(Denavit-Hartenberg)矩阵,建立机械手的数学模型,然后应用MATLAB求解机械手运动学正解,仿真得到机械手工作空间域。通过仿真验证了机械手结构设计的合理性。
This paper introduces a novel micro-electromotor driven serial manipulator used in welding small pipes and containers and inspecting the weld quality of the inner wall. A practical simulation means for the serial articulated manipulators is explored. Based on the structural analysis of the manipulator, the link frames are constructed and D-H matrixes of the manipulator links are produced, then the kinematics forward solution can be obtained, the rationality of the manipulator structure design is verified by workspace simulation through MATLAB programming and computation.
出处
《四川理工学院学报（自然科学版）》
CAS
2006年第5期5-8,共4页
Journal of Sichuan University of Science & Engineering(Natural Science Edition)
关键词
微电驱串联机械手
运动学正解
工作空间域解算与仿真
micro-electromotor driven serial manipulator
forward kinematics solution
solution and simulation for workspace
