液压排雷机械手作业系统的运动学分析

通过对机械手作业系统的运动学分析,按照D-H坐标系的建立原则,确定系统的广义坐标,选取机构中的旋转副和移动副作为关节变量,推导出各关节的广义变换矩阵,得到了机械手指端的运动学方程,求出机械手运动学的正解.经计算机模拟得到机械手作业系统的工作几何参数和主要技术指标,结果表明其能够达到完成作业任务规划的要求.该研究为机械手应用时的优化结构参数提供了理论基础,从而也论证了机械手运用于液压挖掘机平台上的可行性.

KINEMATIC ANALYSIS OF A HYDRAULIC MINE-CLEARING MECHANICAL MANIPULATOR

In analyzing the kinematics of the hydraulic maipulator operating system, the generalized coordinates of the manipulator system was established. The rotating and moving joints were selected from the mechanism as joint variables. The generalized transformation matrices were worked out. The kinematic equation at the finger end of the manipulator was calculated, and the obverse solution for manipulator was obtained. The operating geometrical parameters and primary techno-index of the manipulator system are simulated. The simulation results showed that the manipulator operating system meets the working task requirements. The study provides a theoretical basis for optimizing the structural parameters. It verifies the feasibility that the manipulator can be used in an engineering equipment platform.