服务机器人机械臂的结构设计与运动规划
Structural Design and Motion Planning of Mechanical Arm for Service Robot
林琳1
作者信息
- 1. 辽宁机电职业技术学院机械工程系,辽宁丹东 118009
- 折叠
摘要
为了提升服务机器人机械臂的灵活性、轻便性以及快速运动的能力,首先结合设计指标以及人体工程学进行机械臂的模块化关节、外壳等结构设计,然后利用运动学和动力学分析模型实现机械臂的运动控制.通过仿真实验,可以实现流畅灵活的运动,完善服务机器人在各方面的功能,为优化服务机器人在人们生产生活中的应用提供可靠支撑.
Abstract
In order to improve the flexibility,portability and fast movement ability of the service robot arm,the structural design of modular joints and shells of the mechanical arm is first combined with design indicators and ergonomics,and then the kinematics and dynamic analysis model are used to realize the movement control of the mechanical arm.Through the simulation experiment,the smooth and flexible movement can be realized,the functions of service robots in all aspects can be improved,to provide reliable support for optimizing the application of service robots in people's production and life.
关键词
服务机器人/机械臂/结构设计/运动规划Key words
service robot/mechanical arm/structural design/motion planning引用本文复制引用
出版年
2024
NETL
NSTL
万方数据