基于Matlab的8R机械臂运动学分析与仿真
Kinematic analysis and simulation of the 8R robotic arm based on Matlab
任建华 1王键 1冯泽民1
作者信息
- 1. 河北工程大学机械与装备工程学院,河北 邯郸 056038;河北省智能工业装备技术重点实验室,河北 邯郸 056038
- 折叠
摘要
为了使凿岩机械臂快速精确到达预定姿态,文章以 8R机械臂为研究对象,基于改进D-H方法建立其关节坐标系并推导出凿岩机械臂的运动学方程,在Matlab中利用工具箱函数通过编程建立其运动学模型,通过代入位姿角度验证求解的正逆运动学的准确性.利用蒙特卡洛算法模拟机械臂实际工作空间并对机械臂不同位形间的关节角度进行轨迹规划仿真,仿真出的工作空间图形和路径点位形处的关节位置、速度、加速度曲线结果都能满足机械臂进行凿岩的工作需求,为后面机械臂的孔序规划和动力学分析奠定了基础.
Abstract
In order to make the rock drilling robot arm reach the predetermined attitude quickly and accurately,the 8R robot arm is used as the object of study,the kinematic equations of the arm are derived based on the improved D-H method.The kinematic model is programmed in Matlab using toolbox functions and the accuracy of the forward and inverse kinematics of the solution is verified by substituting the positional angles.The results of the simulated working space graphs and joint positions,velocities and acceleration curves at the path point loci can meet the working requirements of the robotic arm for rock drilling,laying a good foundation for the later hole sequence planning and dynamics analysis of the robotic arm.
关键词
凿岩机械臂/运动学分析/Matlab/工作空间/轨迹规划Key words
rock drilling robotic arms/kinematic analysis/Matlab/workspace/track planning引用本文复制引用
基金项目
河北省自然科学基金(F2021402011)
出版年
2024
NETL
NSTL
万方数据