一种关节型摆盘机械手的运动学分析

摘要

In order to solve the problems that the rice seedling-growing tray placing operation is still mainly based on manual , during the season of planting , requiring a lot of labor , high labor intensity , low efficiency , a end-effector of manipulator with 4-DOF is designed , and the selection of the manipulator is decided .The kinematics model of the ma-nipulator is established by H-H method , and then obverse and inverse kinematics calculates were obtained by MATLAB depending on its excellent capability for symbolic math problems .The trajectory of manipulator arms could be obtained by the result of obverse kinematics when manipulator worked , and also torsional angles could be obtained by the result of in-verse kinematics when manipulator arrived on certain pose .%为解决目前水稻育秧摆盘作业仍以人工为主、种植季节需要大量劳动力、劳动强度大、作业效率低等问题，设计了一种4自由度关节型机械手实现摆盘作业，对机械手的手臂和手腕进行选型。运用D-H 方法构建了机械手的运动学模型，利用MATLAB强大的符号运算功能对方程进行求解，得出正逆运动学的解。通过正逆运动学的解，可以得出机械手各关节工作时的运动轨迹和机械手欲到达某一位姿时各关节的扭角值。