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对一种八自由度机械臂的正运动学和工作空间问题进行了研究。首先,根据机械臂的结构特点,利用D-H法建立了该机械臂的连杆坐标系,得到其运动学正解;其次,利用MATLAB Robotics Toolbox建立机械臂的仿真模型,验证了机械臂运动学正解的正确性;最后,根据末端执行器的位置向量,采用蒙特卡洛法对机械臂的工作空间进行了分析,得到机械臂末端执行器的工作空间范围,仿真结果与机械臂的设计参数相符。
The research on the positive kinematics and working space of a 8-DOF manipulator is studied. First of all, based on the structural characteristics of the manipulator, the coordinate system of the manipulator is established by the DH method, and the kinematic positive solution is obtained. Secondly, the simulation model of the manipulator is established by MATLAB Robotics Toolbox. Finally, according to the position vector of the end effector, the work space of the manipulator is analyzed by Monte-Carlo method. The workspace of the manipulator’s end effector is obtained. The simulation result is in accordance with the design parameters of the manipulator.