基于蒙特卡洛法六自由度机械臂工作空间研究
发布时间：2019-01-20 18:14
【摘要】：以六自由度机械臂作为研究对象,分析了机械臂机械结构特点,利用D-H法则完成了机械臂的运动学建模。采用蒙特卡洛法求解得出机械臂的工作空间,利用MATLAB绘制了该机械臂工作空间的三维点云图,并进行了位置分析。
[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.
【作者单位】： 天津职业技术师范大学机械工程学院;
【基金】：天津职业技术师范大学创新基金(编号:YC16-11) 天津市智能制造科技重大专项(编号:15ZXZNGX00260)
【分类号】：TP241
，
本文编号：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.
【作者单位】： 天津职业技术师范大学机械工程学院;
【基金】：天津职业技术师范大学创新基金(编号:YC16-11) 天津市智能制造科技重大专项(编号:15ZXZNGX00260)
【分类号】：TP241
，
本文编号：2412273
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