摘要
针对地形复杂的矿井工作环境,提出一种矿用巡检六自由度机械臂,以进行危险环境下的样品采集等工作。研究该矿井巡检机械臂正运动学、工作空间、轨迹规划问题,通过改进Denavit-Hartenberg方法建立六自由度巡检机械臂正向运动学数学模型,利用MATLAB机器人工具箱建立巡检机械臂仿真模型,验证所建立正向运动学数学模型的正确性,进而采用蒙特卡罗方法对机械臂工作空间进行研究,由工具坐标系的随机概率位置向量得出机械臂工作域,对工具坐标系的工作空间云点图进行绘制,同时通过MATLAB轨迹规划仿真研究机械臂运行过程中末端执行器位移变化。
Aiming at the complex mine working environment, amining six-degree-o f-freedom in spection robotic arm for sample collection in hazardous environments was proposed. Studied the positive kinematics, working space and trajectory planning of the mine inspection robotic arm. The forward kinematics mathematical model of the six-degree-of-freedom inspection robot by the improved Denavit-Hartenberg method was estabished. Using the MATLAB robotic toolbox established the inspection robotic arm simulation. Verified the correctness of the established forward kinematics mathematical model,and then used the Monte Carlo method to study the working space of the manipulator. Used stochastic probability position vector of the tool coordinate system to derive the working range of the manipulator. Drawed the working space cloud point map,and studied the displacement of the end effector during the operation of the manipulator by MATLAB trajectory planning simulation.
作者
杨鑫科
吴娟
李琳
Yang Xinke;Wu Juan;Li Lin(College of Mechanical and Vehicle Engineering,Taiyuan University of Technology,Taiyuan 030024,China;Nationallocal Joint Laboratory of Mining Fluid Control Engineering,Taiyuan 030024,China;Shanxi Research Center of Mining Fluid Control Engineering,Taiyuan 030024,China)
出处
《煤矿机械》
北大核心
2019年第9期88-91,共4页
Coal Mine Machinery
基金
省部级基金项目（2018JG23）
关键词
巡检机械臂
正向运动学
轨迹规划
蒙特卡洛法
inspection robotic arm
forward kinematics
trajectory planning
Monte Carlo method
