CAJ | 학술논문

为了更好地实现仿人形义肢的功能，提出了一种应用于机器人假肢的工作空间分析方法。首先用D‐H方法对6自由度机器人假肢的结构图进行数学模型的建立，然后借助蒙特卡洛方法，通过MATLAB对机器人假肢的工作空间进行仿真分析，最后有效地得到机器人假肢的运动学方程及其相应的运动关节的解。这样研究的结果，不仅精确了机器人假肢轨迹规划，而且节约了计算过程和时间，尤其可以解决多自由度机器人假肢因其庞大的空间给运动学分析带来的问题。
위료경호지실현방인형의지적공능，제출료일충응용우궤기인가지적공작공간분석방법。수선용D‐H방법대6자유도궤기인가지적결구도진행수학모형적건립，연후차조몽특잡락방법，통과MATLAB대궤기인가지적공작공간진행방진분석，최후유효지득도궤기인가지적운동학방정급기상응적운동관절적해。저양연구적결과，불부정학료궤기인가지궤적규화，이차절약료계산과정화시간，우기가이해결다자유도궤기인가지인기방대적공간급운동학분석대래적문제。
In order to achieve the function of the humanoid arm better ,a kind of space analysis method is applied to the robot artificial limbs work has been proposed .Firstly Mathematical model of six degrees of freedom robot structure is established by using D‐H method ;and then ,simulate and analysis the working space of the robot artificial limbs through Matlab ,with the method of Monte Carlo ;finally get the robot artificial limbs joint solution of kinematics equations and the corresponding movement effectively .This study is not only getting the precise trajectory planning for robot artificial limbs and saving calculation process and time ,but also can solve the kinematics analysis problems of many degrees of freedom robot artificial limbs because of its vast space .