《计算机应用研究》|Application Research of Computers

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

免费全文下载 (已被下载 次)  
获取PDF全文
作者 李宪华,张雷刚,疏杨,宋韬,张军
机构 1.安徽理工大学 机械工程学院,安徽 淮南232001;2.上海市智能制造及机器人重点实验室,上海 200444
统计 摘要被查看 次,已被下载
文章编号 1001-3695(2017)09-2666-04
DOI 10.3969/j.issn.1001-3695.2017.09.022
摘要 针对六自由度模块化机械臂的两种不同构型,对其工作空间进行了量化对比分析。采用DH法进行了手臂结构建模,得到正运动学模型;基于MATLAB机器人工具箱搭建了两种构型手臂的仿真平台,运用蒙特卡洛法求解两种构型手臂的工作空间,并采用可视化方法得到其工作空间的点云图;结合计算机辅助设计软件绘制两种手臂构型的3D工作空间,采用SLI指标对两种手臂构型的工作空间进行量化处理分析;最后通过对比两种手臂构型的工作空间点云图、3D工作空间实体和SLI指标性能分析了两种构型手臂的优劣,为后续的模块化机械臂的结构参数优化和空间灵活性研究奠定了基础。
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
基金项目 国家“863”计划资助项目(2007AA041604)
安徽高校自然科学研究重点项目(KJ2016A200)
本文URL http://www.arocmag.com/article/01-2017-09-022.html
英文标题 Quantitative comparative analysis of workspace for six degrees of freedom modular manipulator
作者英文名 Li Xianhua, Zhang Leigang, Shu Yang, Song Tao, Zhang Jun
机构英文名 1.SchoolofMechanicalEngineering,AnhuiUniversityofScience&Technology,HuainanAnhui232001,China;2.ShanghaiKeyLaboratoryofIntelligentManufacturing&Robotics,Shanghai200444,China
英文摘要 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.
英文关键词 modular manipulator; robotics toolbox; Monte Carlo method; workspace; SLI index
参考文献 查看稿件参考文献
  [1] Patel S, Sobh T. Manipulator performance measures:a comprehensive literature survey[J] . Journal of Intelligent and Robotic Systems, 2015, 77(3-4):547-570.
[2] Abdel-Malek K, Yeh H J. Analytical boundary of the workspace for general 3-DOF mechanisms[J] . International Journal of Robotics Research, 1997, 16(2):198-213.
[3] Bottur D, Martelli S, Fiorini P. Ageometric method for robot workspace computation[C] //Proc of the 11th International Conference on Autonomous Robots and System. Verona:Verona University Publications, 2003.
[4] Rastegar J, Fardanesh B. Manipulator workspace analysis using the Monte Carlo method[J] . Mechanism and Machine Theory, 1990, 25(2):233-239.
[5] 许卫斌, 平雪良, 应再恩, 等. 6R型串联机器人工作空间快速求解方法[J] . 机械设计, 2013, 30(6):28-31.
[6] Wang Xuanyin, Ding Yuanming. Method for workspace calculation of 6R serial manipulator based on surface enveloping and overlaying[J] . Journal of Shanghai Jiaotong University, 2010, 15(5):556-562.
[7] Yi Cao, Qi Suiping, Ke Lu, et al. An integrated method for workspace computation of robot manipulator[C] //Proc of International Joint Conference on Computational Sciences and Optimization. 2000:309-312.
[8] Kim H G, Shin K S, Hwang S W, et al. Link length determination method for the reduction of the performance deviation of the manipulator:extension of the valid workspace[J] . International Journal of Precision Engineering and Manufacturing, 2014, 15(9):1831-1838.
[9] 田海波, 马宏伟, 魏娟. 串联机器人机械臂工作空间与结构参数研究[J] . 农业机械学报, 2013, 44(4):196-201.
[10] 石磊, 许明恒, 邓维鑫, 等. PowerCube模块化机器人工作空间计算[J] . 中国工程机械学报, 2011, 9(1):38-42.
[11] 熊有伦, 唐立辛, 丁汉, 等. 机器人技术基础[M] . 武汉:华中科技大学出版社, 2008.
[12] 李宪华, 郭永存, 张军, 等. 模块化六自由度机械臂逆运动学解算与验证[J] . 农业机械学报, 2013, 44(4):246-251.
[13] 蔡自兴. 机器人学[M] . 2版. 北京:清华大学出版社, 2009.
[14] 周律, 周煜明, 汪亮, 等. 基于蒙特卡洛方法的双臂机器人工作空间分析[J] . 机械传动, 2014, 38(6):85-87.
收稿日期 2016/6/22
修回日期 2016/8/4
页码 2666-2669
中图分类号 TP241.2
文献标志码 A