基于Matlab六自由度自动配药机械手设计研究

发布时间：2018-04-03 15:53

本文选题：自动配药机械手　切入点：D-H建模　出处：《青岛大学学报(工程技术版)》2016年04期

【摘要】：针对人工配药的精确度较低及部分有毒药剂会对操作人员身体造成影响的问题,本文应用D-H方法,建立了六自由度自动配药机械手运动学模型。利用Matlab中的robotics工具箱建立机械手三维模型,并应用Matlab对机械手摇匀药液过程进行运动学分析,同时在笛卡尔空间内进行轨迹规划仿真,确保药液摇匀过程的运动学参数满足机械手性能要求。仿真结果表明,该六自由度机械手末端运动轨迹符合预期规划,可以完成摇匀溶解西林瓶药液工艺过程,既能提高配药效率和精度,又能避免操作人员的人工操作所带来的伤害。该研究为后续的动力学分析及轨迹规划的关节控制提供了重要的理论依据。
[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.
【作者单位】：青岛大学机电工程学院;
【分类号】：TP241

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