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针对一种大臂偏置型七自由度机械臂,应用D-H法建立了该机械臂的位置正解模型并进行了求解。在此基础上,采用蒙特卡洛方法对该机械臂的工作空间进行了求解和分析,借助Matlab平台得到了该机械臂的末端工作空间,并用几何法进行了验证。研究结果表明了蒙特卡洛方法求解工作空间的正确性和有效性,对此类机械臂的工作空间分析具有一定的参考价值。
Aiming at a kind of arm-biased seven-degree-of-freedom manipulator, the position positive solution model of the manipulator is established by D-H method and solved. On this basis, the working space of the manipulator is solved and analyzed by Monte-Carlo method. The working space of the manipulator is obtained by Matlab platform and verified by the geometric method. The results show that the Monte Carlo method can be used to solve the problem of the correctness and validity of the work space. It is of certain reference value for the analysis of work space of such manipulators.