摘要
针对煤矿工作环境的复杂性和不确定性,提出一种新型6自由度液压驱动串联机械臂,使其具备结构轻量化、控制精准化、操作简易化等特点。首先,以6自由度串联机械臂为研究对象,建立其运动学模型,推导运动学正、逆解;其次,利用极值理论和蒙特卡洛算法求解末端夹爪的工作空间,证明所设计的串联机械臂有效性;最后,选取机械臂运行的典型轨迹,使用不同的插值策略对机械臂运行的角度、角速度和角加速度进行对比分析。结果表明:6自由度液压驱动机械臂末端夹爪在五次多项式插值策略下运行平稳且连续,没有出现突变现象,可减小整机运行的柔性冲击,提升整机的使用寿命。
Aiming at the complexity and uncertainty of the working environment of coal mines,a new type of six-degree-of-freedom hydraulic-driven serial manipulator was proposed,which has the characteristics of lightweight structure,precise control and simple operation;Taking the six-degreeof-freedom serial manipulator as the research object,the kinematics model was established,and the forward and inverse kinematics solutions were derived.The extreme value theory and Monte Carlo algorithm were used to solve the workspace of the end gripper,which proved the effectiveness of the designed serial manipulator;The typical trajectory of the manipulator was selected,and the angle,angular velocity and angular acceleration of the manipulator were compared and analyzed by using different interpolation strategies;The results show that the six-degree-of-freedom hydraulic drive manipulator end gripper runs smoothly and continuously under the quintic polynomial interpolation strategy,and there is no mutation phenomenon,which can reduce the flexible impact of the whole machine operation and improve the service life of the whole machine.
作者
赵玉贝
杨静
王伟
高英杰
郭锐
赵静一
ZHAO Yubei;YANG Jing;WANG Wei;GAO Yingjie;GUO Rui;ZHAO Jingyi(Beijing Tianma Intelligent Control Technology Co.,Ltd.,Beijing 101399,China;Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control,Yanshan University,Qinhuangdao 066004,Hebei,China;Key Laboratory of Advanced Forging&Stamping Technology and Science,Yanshan University,Qinhuangdao 066004,Hebei,China;Hebei Provincial Key Laboratory of Special Transport Equipment,Yanshan University,Qinhuangdao 066004,Hebei,China)
出处
《中国工程机械学报》
北大核心
2024年第3期315-320,共6页
Chinese Journal of Construction Machinery
基金
国家自然科学基金面上资助项目(12173054,52075469)
北京天玛智控科技股份有限公司资助项目(2022TM008-J1)。
关键词
6自由度串联机械臂
运动学
轨迹规划
six-degree-of-freedom serial manipulator
kinematics
trajectory planning
作者简介
赵玉贝(1987-),男,工程师,硕士。E-mail:zhaoyb@tdmarco.com;通信作者:高英杰(1965-),男,教授,博士。E-mail:yjgao@ysu.edu.cn。
