本文選題：自動配藥機械手　切入點：D-H建模　出處：《青島大學(xué)學(xué)報(工程技術(shù)版)》2016年04期

【摘要】：針對人工配藥的精確度較低及部分有毒藥劑會對操作人員身體造成影響的問題,本文應(yīng)用D-H方法,建立了六自由度自動配藥機械手運動學(xué)模型。利用Matlab中的robotics工具箱建立機械手三維模型,并應(yīng)用Matlab對機械手搖勻藥液過程進行運動學(xué)分析,同時在笛卡爾空間內(nèi)進行軌跡規(guī)劃仿真,確保藥液搖勻過程的運動學(xué)參數(shù)滿足機械手性能要求。仿真結(jié)果表明,該六自由度機械手末端運動軌跡符合預(yù)期規(guī)劃,可以完成搖勻溶解西林瓶藥液工藝過程,既能提高配藥效率和精度,又能避免操作人員的人工操作所帶來的傷害。該研究為后續(xù)的動力學(xué)分析及軌跡規(guī)劃的關(guān)節(jié)控制提供了重要的理論依據(jù)。
[Abstract]:In order to solve the problem that the precision of artificial dispensing is low and that some toxic agents will affect the body of the operator, a kinematics model of automatic dispensing manipulator with six degrees of freedom is established by using D-H method.The three-dimensional model of manipulator is built by using robotics toolbox in Matlab, and the kinematics of the manipulator is analyzed by Matlab, and the trajectory planning simulation is carried out in Descartes space.Ensure that the kinematic parameters of the liquid shake process meet the performance requirements of the manipulator.The simulation results show that the end motion trajectory of the six-DOF manipulator accords with the expected planning, and it can complete the process of shaking and dissolving the medicine solution of the cylinder, which can improve the dispensing efficiency and precision.It can also avoid the damage caused by manual operation of the operator.This study provides an important theoretical basis for the subsequent dynamic analysis and trajectory planning joint control.
【作者單位】： 青島大學(xué)機電工程學(xué)院;
【分類號】：TP241

【參考文獻】

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1 林海峰;王Y，

本文編號：1705888