摘要
针对水下作业机械手环境恶劣,时变等难题,结合水下作业的具体要求,设计了一种六自由度水下机械手臂。肩部可水平摆动100°,大臂可绕肩关节上下摆动120°,前臂可绕肘关节上下摆动120°,前臂绕自身轴线旋转270°,腕部可绕肘关节上下摆动120°,腕部绕自身轴线旋转360°。利用MATLAB对机械手正向运动学模型进行分析,为下一步六自由度水下机械手的智能控制提供了设计参数。
The underwater robotic arm with six degrees of freedom is designed to work under severe circumstances. Its shoulder can swing horizontally 100 degrees, its big arm can swing up and down 120 degrees around the shoul-der joint, its forearm can swing up and down 120 degrees around the elbow join and rotate 270 degrees around its own axis, its wrist can swing up and down 120 degrees around the elbow join and rotate 360 degrees around its ax-is. The manipulator forward kinematics model is analyzed rameters for the intelligent control of the manipulator with by using MATLAB. The results provide the design pa-six degrees of freedom under water.
出处
《液压与气动》
北大核心
2014年第1期10-12,17,共4页
Chinese Hydraulics & Pneumatics
关键词
六自由度
机械手
结构设计
运动分析
six degrees of freedom, robotic arm, structure design, motion analysis
