摘要
在串联关节型机械臂的研究中大多都忽略铰间隙的影响,为了得出铰间隙对平面关节式机械臂运动影响,以平面2R机械臂为研究对象,利用DH坐标变换法得出其运动学方程;利用二关节之间的配合关系来确定铰间隙;根据不同的间隙进行三维建模和运动仿真;对仿真结果从位移、速度、加速度三个方面进行对比和分析;利用末端位姿允许误差及MATLAB蒙特卡洛模拟设计铰间配合精度。从结果可以看出:间隙越大末端执行器的位姿精度越低,速度和加速度波动越大但总体波动时间较短,角加速度波动次数较多但波动幅度较小。间隙较小时结果反之。二关节之间不同的间隙组合对机械臂运动也有较大影响。利用末端允许误差及蒙塔卡洛模拟可设计出较优的铰关节处配合精度。
In the study of the serial robot mostly ignore the influence of the joint clearance,in order to obtain the effect of the joint clearance on the motion of the serial robot,the paper taking the planar 2R robot as the research object,using the DH transformation method obtain the kinematic equation; using the cooperation between the 2 joints to determine the joint clearance; 3D modeling and motion simulation are used in different joint clearance.The simulation results are compared and analyzed from of displacement,velocity and acceleration.Using the error of the end pose and the Monte Carlo simulation design the coordination accuracy of joints clearance.The results showthat：the lower position and attitude accuracy of the end effector with bigger clearance,the velocity and acceleration fluctuations is bigger,but the overall fluctuation time is shorter,the angular acceleration is more frequent but the fluctuation range is small.When clearance is smaller results on the contrary.Different clearance combination between the joints also has a great impact of the robot movement.Using the error of the end pose and the Monte Carlo simulation can design the better coordination accuracy of joints clearance.
出处
《组合机床与自动化加工技术》
北大核心
2017年第4期38-42,共5页
Modular Machine Tool & Automatic Manufacturing Technique
基金
宜昌市科技基金项目(ZJX201612)
三峡大学研究生科研创新基金(SDYC2016029)
关键词
串联机械臂
铰间隙
DH坐标变换法
运动仿真
蒙特卡洛模拟
serial robot
joint clearance
DH transformation method
motion simulation
monte carlo simulation
