基于蒙特卡洛法六自由度機械臂工作空間研究
發(fā)布時間：2019-01-20 18:14
【摘要】：以六自由度機械臂作為研究對象,分析了機械臂機械結(jié)構(gòu)特點,利用D-H法則完成了機械臂的運動學(xué)建模。采用蒙特卡洛法求解得出機械臂的工作空間,利用MATLAB繪制了該機械臂工作空間的三維點云圖,并進行了位置分析。
[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:YC16-11) 天津市智能制造科技重大專項(編號:15ZXZNGX00260)
【分類號】：TP241
，
本文編號：2412273
[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:YC16-11) 天津市智能制造科技重大專項(編號:15ZXZNGX00260)
【分類號】：TP241
，
本文編號：2412273
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