共查询到19条相似文献,搜索用时 203 毫秒
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面向深海中小作业型水下机器人应用需求,针对水下液压机械手支持系统庞大复杂、关节直接驱动式水下电动机械手负载能力小等特点,研究设计了深海中等负载5功能电动机械手。该机械手前三个关节采用相同的电动直线缸模块进行驱动,均能实现120°范围的摆动。电动直线缸模块内部设有直线电位计进行位置反馈,以便该机械手与水下机器人组成的系统具备自主作业能力,腕转夹钳模块集成了腕转和夹钳两个功能。利用D-H法对机械手进行了运动学分析,为后续自主作业研究奠定了理论基础。通过矩阵微分法对机械手末端位置误差进行了分析,误差小于1.7mm。 相似文献
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码垛机械手运动学分析 总被引:3,自引:1,他引:2
以自行研制的码垛机械手为分析对象,运用D-H法建立机械手的运动学数学模型,进行正、逆向运动学分析,分别得出了操作臂末端在基坐标系下的位置关系式和各关节的参数变量;最后根据机械手末端速度与关节变量速度之间关系分析,得出机械手的雅可比矩阵和逆雅可比矩阵. 相似文献
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针对机械臂操作受作业环境约束柔性负载,约束力、负载变形不易控制等问题,基于变形旋量理论,结合拉格朗日方程建立了机械臂操作受限柔性负载系统的动力学模型。首先,将系统分解为刚性机械臂与柔性负载两个子系统,分别建立了其动力学方程。然后,根据柔性负载与环境约束力及机械臂末端执行器的约束关系,推导了系统的运动方程。在给定机械臂的运行状态及环境约束力或给定机械臂各关节驱动力矩及负载末端的期望轨迹的情况下,分别推导了系统的逆动力学模型与正动力学模型。最后,通过三自由度(DOF)机械臂操作受限柔性梁进行了仿真,验证了该方法的有效性,并对系统的动力学特性进行了分析。 相似文献
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当机器人的机械手通过与末端连杆相连的手爪推动物体或支撑负载时.或者在考虑机械手自身结构设计时,都需要分析机械手在静态下的力或力矩平衡问题,也就是要确定为了维持平衡时机械手的各个关节必须给出的力或力矩。文中以具有规范杆的SIWR-Ⅱ型水下机械手为研究对象,通过统一坐标的建立给出了该机械手的运动学方程.基于连杆静力分析,用关节力矩递推算法计算SIWR-Ⅱ型水下机械手的各关节力和力矩、利用Matlab计算,表明该方法有效可行.可供相关研究人员参考。 相似文献
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在MATLAB中构建机械手的DH模型,计算并验证了机械手的正解。在CATIA三维模块中建立了六自由度机械手的模型,设置好材料,计算出各关节负载,利用ANSYS静力学仿真,验证了机械手壳体自身的强度。将模型导入ADAMS中,进行动力学仿真,通过五次多项式插值算法规划机械手的末端运动轨迹,计算出每个关节相应的力矩和转速,为电机选型提供了依据。 相似文献
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M. H. Korayem H. Ghariblu 《The International Journal of Advanced Manufacturing Technology》2004,23(1-2):28-38
The problem of establishing the load carrying capacity of mobile base manipulators operated by limited force or torque actuators is presented. It is shown the maximum allowable load on a given load trajectory, is a function of base position. The load workspace is defined as the union of places where the base can be located on them and it carries a load by the manipulator on a desired trajectory. The load workspace is discretised into some grid points, and the base is positioned on each grid point. The recursive Newton-Euler method is used to compute the dynamic effects of the load and manipulator on each joint actuator, then the load carrying capacity of the mobile manipulator at each base location is computed by considering the manipulator joints and actuator torque constraints. By applying a simple procedure, a smaller subspace of the load workspace is selected, so that the load carrying capacity is near to a maximum. This procedure is repeated until the optimum base location is found so that the load carrying of the manipulator is a global maximum in the load workspace for the desired dynamic trajectory. Finally, the effect of base mobility on optimising the dynamic load carrying capacity for different robotic arms is investigated in separate case studies. 相似文献
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Wei LiuYing-jun Li Zhen-yuan JiaJun Zhang Min Qian 《Mechanical Systems and Signal Processing》2011,25(1):331-343
In working process of huge heavy-load manipulators, such as the free forging machine, hydraulic die-forging press, forging manipulator, heavy grasping manipulator, large displacement manipulator, measurement of six-dimensional heavy force/torque and real-time force feedback of the operation interface are basis to realize coordinate operation control and force compliance control. It is also an effective way to raise the control accuracy and achieve highly efficient manufacturing. Facing to solve dynamic measurement problem on six-dimensional time-varying heavy load in extremely manufacturing process, the novel principle of parallel load sharing on six-dimensional heavy force/torque is put forward. The measuring principle of six-dimensional force sensor is analyzed, and the spatial model is built and decoupled. The load sharing ratios are analyzed and calculated in vertical and horizontal directions. The mapping relationship between six-dimensional heavy force/torque value to be measured and output force value is built. The finite element model of parallel piezoelectric six-dimensional heavy force/torque sensor is set up, and its static characteristics are analyzed by ANSYS software. The main parameters, which affect load sharing ratio, are analyzed. The experiments for load sharing with different diameters of parallel axis are designed. The results show that the six-dimensional heavy force/torque sensor has good linearity. Non-linearity errors are less than 1%. The parallel axis makes good effect of load sharing. The larger the diameter is, the better the load sharing effect is. The results of experiments are in accordance with the FEM analysis. The sensor has advantages of large measuring range, good linearity, high inherent frequency, and high rigidity. It can be widely used in extreme environments for real-time accurate measurement of six-dimensional time-varying huge loads on manipulators. 相似文献
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根据微生物培养过程中需对培养皿抓取和分拣的工作要求,设计了一款5自由度小型机械臂,通过UG软件建立其三维模型。利用D-H法建立其连杆坐标系并作运动学分析。采用MATLAB建立机械臂数学模型并对其工作空间进行分析与验证。将该三维模型导入到ADAMS软件中进行运动学/动力学仿真分析,得出机械臂各关节角速度、力矩等参数曲线,仿真结果可为该机械臂的物理样机制造与取放皿操作实验提供参考。 相似文献
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6-UPS型并联机构的刚体动力学模型 总被引:15,自引:0,他引:15
建立了6-UPS型并联机构的动力学模型。为了能使动力学模型包含所有构件的重力和惯性力,以6-UPS并联机构的支链为研究对象,运用D-H方法建立了各构件的坐标系,推导了支链的运动学反解的解析方程,并给出了各个构件的速度、加速度与动平台的速度、加速度的映射关系。然后用牛顿-欧拉方法推导了6-UPS并联机构的动力学模型,为支链中各个构件支反力的求解和整个机构的动力学分析奠定了基础。最后以并联机床为例,运用动力学模型进行了实际计算并绘制了连杆驱动力的变化曲线。 相似文献
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Sang-Hyuk Lee Young-Loul Kim Jae-Bok Song 《International Journal of Precision Engineering and Manufacturing》2010,11(2):219-225
Accurate load sensing of a manipulator becomes increasingly important in performing various tasks involving contact with an
environment. Most of the research has been focused on improving the hardware of a force/torque sensor. The torque sensors
for a manipulator suffer from crosstalk, which is difficult to compensate for even with sophisticated calibration. This research
proposed a novel calibration method composed of two steps. Through the primary calibration, the torque sensor output can be
related to the joint torques. The secondary calibration, which is based on a virtual load, is conducted to compensate for
the crosstalk of a torque sensor. The virtual load is obtained from the sensed joint torques and manipulator configuration.
Using the proposed calibration method, the external load acting on the end-effector of a manipulator can be accurately measured
even with relatively low-quality torque sensors. The experimental results showed that the error in the load sensing was significantly
reduced by the proposed calibration method. 相似文献