| 排爆机器人手臂的研制及运动学分析 |
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| 引用本文： | 李健,许旻,杨杰.排爆机器人手臂的研制及运动学分析[J].机械与电子,2009(3):66-69. |
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| 作者姓名： | 李健 许旻 杨杰 |
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| 作者单位： | 中国科学技术大学精密机械与精密仪器系,安徽,合肥,230027 |
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| 摘 要： | 阐述了排爆机器人作业手臂的结构设计以及运动学分析，建立了相应的运动学模型，并在此基础上求解了机械臂的正、反运动学方程。最后为了验证结构以及运动学分析，用Matlab软件中的Robotics Toolbox对整个系统进行了仿真，结果说明该设计方法是可行的。
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| 关 键 词： | 排爆机器人 作业手臂 结构设计 运动学分析 Matlab仿真 |
Design and Kinematics Analysis of Bomb-disposed Robot Manipulator |
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| LI Jian,XU Min,YANG Jie.Design and Kinematics Analysis of Bomb-disposed Robot Manipulator[J].Machinery & Electronics,2009(3):66-69. |
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| Authors: | LI Jian XU Min YANG Jie |
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| Affiliation: | Department of Precision Machinery and Precision Instrumentation;University of Science and Technology of China;Hefei 230027;China |
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| Abstract: | Mechanical design and kinematics analysis of bomb-disposed robot manipulator were discussed in this paper,and kinematics model was established.Based on it,forward and inverse kinematics equations were solved.At last,a simple simulation was performed by Robotics Toolbox of Matlab software for the structure and kinematics analysis.And the results appeared that this kind of method was correct and feasible. |
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| Keywords: | bomb-disposed robot manipulator mechanical design kinematics analysis Matlab simulation |
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