计算机应用研究2017，Vol.34Issue(9)：2666-2669,4.DOI:10.3969/j.issn.1001-3695.2017.09.022
六自由度模块化机械臂腕部工作空间量化对比分析
Quantitative comparative analysis of workspace for six degrees of freedom modular manipulator
摘要
Abstract
Aimed at two different structures configuration of modular manipulator,this paper completed the quantitative comparison analysis of its workspace.Firstly,it derived the kinematics model by using the DH method.Secondly,it built the simulation platform of two different conformation arm based on the robotics toolbox in MATLAB,then solved the workspace of the two arm configuration by applying Monte Carlo method and acquired the point cloud of its workspace by using visual approach.Thirdly,it plotted the 3D workspace of two arm configuration by means of combining computer-aided design software,then analyzed and handled the workspace of two arm configuration quantitatively using SLI index.Lastly,it analyzed the advantages and disadvantages of the two arm configurations by comparing the point cloud of the workspace,the 3D solid workspace and the SLI performance index of two arm configurations,it lays a foundation for subsequent optimization of structure parameters and spatial flexibility research of modular manipulator.关键词
模块化机械臂/robotics工具箱/蒙特卡洛法/工作空间/SLI指标Key words
modular manipulator/robotics toolbox/Monte Carlo method/workspace/SLI index分类
信息技术与安全科学引用本文复制引用
李宪华,张雷刚,疏杨,宋韬,张军..六自由度模块化机械臂腕部工作空间量化对比分析[J].计算机应用研究,2017,34(9):2666-2669,4.基金项目
国家“863”计划资助项目(2007AA041604) （2007AA041604）
安徽高校自然科学研究重点项目(KJ2016A200) （KJ2016A200）
