摘要
运动学分析是对工业机器人进行轨迹规划和运动控制的基础,本文对多输出头高速电主轴操作臂进行了正运动学和逆运动学分析。根据该操作臂的结构特点,利用D-H参数法建立了其数学模型,并进行了正运动学分析;通过对逆运动学方程计算求解,可得该操作臂只有一个逆解。该结果作为操作臂仿真分析和控制系统设计的参考。
Kinematics analysis is the basis to make trajectory planning and motion controlling for industrial robots. This paper studied manipulator of high speed multiple-heads spindle through kinematics and inverse kinematics analysis method. According to the structure characteristics of the manipulator, the mathematical model is established by using D-H parameter method and the forward kinematics is analyzed. There is only one inverse solution of the manipulator by solving the inverse kinematics equation. This result can be used as the reference of the manipulator simulation and the design of control system.
作者
张长青
郭庆鹏
于航
杨光
白彡
ZHANG Chang-qing;GUO Qing-peng;YU Hang;YANG Guang;BAI Shan(Beijing Forestry Machinery Research Institute of the State Forestry Administration,Beijing 100029,China;Research Institute of New technology,Chinese Academy of Forestry,Beijing 100091,China)
出处
《木材加工机械》
2019年第3期1-3,共3页
Wood Processing Machinery
基金
中央级公益性科研院所基本科研业务费专项资金“四头电主轴操作臂位姿控制系统研究”(项目编号:CAFYBB2017MB032)。
关键词
操作臂
多输出头高速电主轴
正运动学分析
逆运动学分析
manipulator
high speed multiple-heads spindle
kinematics analysis
inverse kinematics analysis
作者简介
张长青(1969-),女,副研究员,硕士生导师。研究方向:木材加工装备及自动化。
