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工作空间是衡量机器人工作能力的一个重要运动学指标。采用蒙特卡洛法和定步距角步长法分析井下排爆机器人机械臂的工作空间。给出了机械臂的基本结构,并对其运动模型进行简化;对机械臂进行了运动学分析;采用蒙特卡洛法和定步距角步长法分析该机械臂的工作空间,给出了机械臂末端的工作空间点云图。结果表明,排爆机械手工作空间内部工作点密集且分布均匀,能够满足作业要求。蒙特卡洛法求解速度快,能够简单而又形象地描绘出机械手的工作空间。
Work space is a measure of the ability of robots to work an important indicator of kinematics. Using Monte Carlo method and step step angle method to analyze the working space of the robot arm of the underground explosion robot. The basic structure of the manipulator is given and its motion model is simplified. The kinematic analysis of the manipulator is carried out. The working space of the manipulator is analyzed by Monte-Carlo method and step-by-step step size method. Work space at the end of robot arm point cloud. The results show that the working place inside the explosive manipulator is dense and evenly distributed, which can meet the operational requirements. The Monte-Carlo method solves quickly and easily and vividly portrays the robot’s workspace.