【摘要】：以六自由度機(jī)械臂作為研究對(duì)象,分析了機(jī)械臂機(jī)械結(jié)構(gòu)特點(diǎn),利用D-H法則完成了機(jī)械臂的運(yùn)動(dòng)學(xué)建模。采用蒙特卡洛法求解得出機(jī)械臂的工作空間,利用MATLAB繪制了該機(jī)械臂工作空間的三維點(diǎn)云圖,并進(jìn)行了位置分析。
[Abstract]:Taking the six DOF manipulator as the research object, the characteristics of the mechanical structure of the manipulator are analyzed, and the kinematics model of the manipulator is completed by using the D-H rule. The workspace of the manipulator is obtained by Monte Carlo method. The three-dimensional point cloud map of the workspace of the manipulator is drawn by using MATLAB and the position of the manipulator is analyzed.
【作者單位】： 天津職業(yè)技術(shù)師范大學(xué)機(jī)械工程學(xué)院;
【基金】：天津職業(yè)技術(shù)師范大學(xué)創(chuàng)新基金(編號(hào):YC16-11) 天津市智能制造科技重大專項(xiàng)(編號(hào):15ZXZNGX00260)
【分類號(hào)】：TP241
，

本文編號(hào)：2412273