CAJ | 학술논문

为减少污染和节省人力,使用加油机器人代替人力完成加油工作成为未来发展的必然趋势.为此,专门设计一种加油机器人操作臂的结构形式,在D-H坐标系中建立四自由度加油机器人操作臂的运动学模型,采用变换矩阵方法求解该操作臂正、逆运动学解析表达式,并运用Matlab软件的机器人工具箱对该操作臂正、逆运动学方程进行仿真验证.研究结果证明正、逆方程运动学方程解的正确性以及设计方法的可行性.
위감소오염화절성인력,사용가유궤기인대체인력완성가유공작성위미래발전적필연추세.위차,전문설계일충가유궤기인조작비적결구형식,재D-H좌표계중건립사자유도가유궤기인조작비적운동학모형,채용변환구진방법구해해조작비정、역운동학해석표체식,병운용Matlab연건적궤기인공구상대해조작비정、역운동학방정진행방진험증.연구결과증명정、역방정운동학방정해적정학성이급설계방법적가행성.
For the sake of reducing pollution and saving labor,it trends to substitute the refueling robot for labor to refuel motor vehicles. Therefore,the mechanical structure of refueling robot manipulator is designed,the kinematics model of four degrees of freedom(DOF)refueling robot is established in the D-H coordinate system,and the analytic solutions of the forward and inverse kinematics of the refueling robot manipulator are obtained through the transformation matrix method. At last,the robotics toolbox of software Matlab is used to simulate and verify the forward and inverse kinematics. The simulation results prove that the algorithms of the forward and inverse kinematics are correct and the design method is feasible,also build foundation for dynamics research of the refueling robot manipulator and even for the practical application of the refueling robot.