模块化机械臂的结构设计和运动学分析
首发时间:2016-04-27
摘要:为了解决传统机械臂设计中存在的设计周期长,成本高和重复劳动的问题,提出了一种模块化机械臂。采用模块化的设计方法,简化了机械臂的结构设计和运动学分析。首先,使用solidworks软件进行了机械臂模块单元具体结构的设计。该模块单元设计为"L"型结构,两端具有标准化快速连接接头,使其具有良好的拓展性,可以方便地组成不同自由度的机械臂,同时赋予机械臂可折叠功能;然后采用D-H参数法对机械臂模块单元和二模块四自由度机械臂进行了运动学分析;最后以多模块拼接机械臂为实例,说明了该模块化机械臂设计方案的可行性和实用性。
关键词: 模块化机械臂 结构设计 正运动学 可折叠?????
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Structure design and kinematics analysis of modular manipulator
Abstract:In order to solve the problem of long cycle, high cost and repeated labor,existing in the traditional design method of the manipulator .This paper presents a modular manipulator.The modular design method is adopted to simplify the structure design and kinematics analysis of the manipulator.Firstly, the design of the specific structure of the manipulator modular unit is carried out by using the SolidWorks software.The modular unit is designed to "L" type structure, with fast connectors at both ends. This structure makes manipulator module unit have good scalability, form different degrees of freedom manipulator easily and give manipulator foldable function.Then the D-H parameter method is adopted to conduct the kinematics analysis of the manipulator modular unit and the four degree of freedom manipulator;Finally, the feasibility and practicability of the design scheme of the modular manipulator are illustrated by the example of the multi-module splicing manipulator.
Keywords: modular manipulator structure design kinematics analysis foldable
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No.4684709114146214****
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