新型六自由度机械臂的运动学分析与仿真验证

HFCAS OpenIR

	新型六自由度机械臂的运动学分析与仿真验证
其他题名	Kinematics analysis and simulation verification of new six DOF robot arm
	2014-01-01
发表期刊	计算机工程与设计
ISSN	1000-7024
摘要	针对新型机器人六自由度机械臂的构型特点,采用传统的D-H法建立机械臂的连杆坐标系和运动学方程.在此基础上对传统的逆运动学求解的解析法进行改进,对得到的多组解采用能耗最小原则进行优化得出最适合的一组解.用MTALAB/SIMULINK搭建仿真模型,验证所得结果的正确性并分析所得结果的误差,仿真结果表明针对于此种构型机械臂的逆运动学求解,该方法无误差、耗能小,为类似构型的机械臂逆运动学求解提供了思路.
其他摘要	The kinematics equation and the joint coordinate system were established by using Denavit-Hartenberg method in the consideration of the configurational characteristics of the new six DOF robot arm. The traditional algebraic method of inverse kinematics solution was improved in mathematical terms and the multiple solutions were optimized based on the principle of power consumption minimization path to get the suitable one. By using MTALAB/SIMULINK, the inverse kinematics solution was proved right and the error of the results was analyzed. The result shows that the method achieves zero error for the inverse kinematics of the mechanical construction. It can provide new ideas for the inverse kinematics solution of similar mechanical configurations.
关键词	六自由度机械臂能耗最小运动学仿真优化
收录类别	CSCD
语种	中文
CSCD记录号	CSCD:5227380
引用统计
文献类型	期刊论文
条目标识符	http://ir.hfcas.ac.cn:8080/handle/334002/64119
专题	中国科学院合肥物质科学研究院
推荐引用方式 GB/T 7714	. 新型六自由度机械臂的运动学分析与仿真验证[J]. 计算机工程与设计,2014,035.
APA	(2014).新型六自由度机械臂的运动学分析与仿真验证.计算机工程与设计,035.
MLA	"新型六自由度机械臂的运动学分析与仿真验证".计算机工程与设计 035(2014).