基于摆缸关节的液压机械臂运动学及工作空间分析
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摘要
针对传统机械臂输出转矩较小的问题,设计了基于叶片式液压摆动油缸(摆缸)作为关节的6自由度液压机械臂,该液压机械臂具有诸多优势,其最大的优点是具有很高的负重比。运用改进的D-H法建立了该液压机械臂的运动学模型,得出其正运动学方程。在MATLAB中进行了液压机械臂的轨迹规划仿真,得到了各关节转角的特性曲线,验证了液压机械臂结构设计的合理性。利用蒙特卡洛法分析计算了其工作空间,借助MATLAB绘制了其末端执行器的工作空间云图,为今后液压机械臂的深入研究提供了重要依据。
Aiming at the problem of low output torque of traditional mechanical arm,a six-degrees-of-freedom hydraulic manipulator based on rotary vane actuator( RVA) joint was designed. The hydraulic robot has many advantages. The greatest advantage of this manipulator is its higher weight ratio. The kinematics modeling and positive kinematics equation of the hydraulic manipulator were performed by the modified DH method. The trajectory planning of the hydraulic manipulator was simulated by MATLAB. The characteristic curve of each joint angle was obtained, so as to verify the rationality of the design of the hydraulic manipulator structure. Based on the Monte Carlo method,its working space was analyzed,and the working space cloud diagram of its end effector was drawn. The reference basis is provided for follow-up indepth study of the hydraulic manipulators.
Aiming at the problem of low output torque of traditional mechanical arm,a six-degrees-of-freedom hydraulic manipulator based on rotary vane actuator( RVA) joint was designed. The hydraulic robot has many advantages. The greatest advantage of this manipulator is its higher weight ratio. The kinematics modeling and positive kinematics equation of the hydraulic manipulator were performed by the modified DH method. The trajectory planning of the hydraulic manipulator was simulated by MATLAB. The characteristic curve of each joint angle was obtained, so as to verify the rationality of the design of the hydraulic manipulator structure. Based on the Monte Carlo method,its working space was analyzed,and the working space cloud diagram of its end effector was drawn. The reference basis is provided for follow-up indepth study of the hydraulic manipulators.
引文
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[11]王阳,郭林福.轻型协作机械臂运动学及工作空间分析[J].机械工程与自动化,2017(1):44-46.
[2]丁良宏,王润孝,冯华山,等.浅析Big Dog四足机器人[J].中国机械工程,2012,23(5):505-514.
[3]夏磊.基于液压驱动的跳跃机器人关键技术研究[D].南京:东南大学,2015.
[4]李贻斌,李彬,荣学文,等.液压驱动四足仿生机器人的结构设计和步态规划[J].山东大学学报(工学版),2011,41(5):32-36,45.
[5]高进芃,熊禾根,陶永,等.液压驱动机械臂的设计与关节驱动分析[J].高技术通讯,2017,27(2):177-183.
[6]沈悦.六自由度工业机器人轨迹规划及控制算法研究[D].南京:南京理工大学,2017.
[7]蔡自兴.机器人学基础[M].北京:机械出版社,2015.
[8]周霏,陈富林,沈金龙,等.基于MATLAB的四自由度机械臂运动学仿真研究[J].机械制造与自动化,2016,45(1):115-119.
[9]何价来,罗金良,宦朋松,等.基于蒙特卡洛法的七自由度拟人机械臂工作空间分析[J].组合机床与自动化加工技术,2015(3):48-51.
[10]苏学满,孙丽丽,杨明,等.基于matlab的六自由度机器人运动特性分析[J].机械设计与制造,2013(1):78-80.
[11]王阳,郭林福.轻型协作机械臂运动学及工作空间分析[J].机械工程与自动化,2017(1):44-46.