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根据自主研发的五自由度(DOF)排爆机械臂的结构特点和运动学约束,对机械臂的运动学进行分析,建立五自由度机械手臂正、逆运动学方程,准确快捷地求出了运动学方程封闭解析解,给出了机器人运动构件与末端执行器在空间的位姿关系;并求出其雅可比矩阵,通过速度仿真验证了机械臂联动策略,提高了排爆机械臂的操作效率和排爆作业精细程度。
According to the structural characteristics and kinematic constraints of self-developed five-DOF (DOF) detonation manipulator, the kinematics of the manipulator is analyzed and the positive and inverse kinematics equations of the five-DOF manipulator are established. The closed form analytical solution of kinematic equation is given, and the pose relationship between the moving components of the robot and the end effector in space is given. The Jacobi matrix is obtained and the linkage strategy of the manipulator is verified by the velocity simulation to improve the operation of the detonation manipulator Efficiency and sophistication of explosive work.