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以D-H法为研究基础,对高压巡线机器人清障机械臂进行了运动学建模与分析,提出了一种有效的运动学正、逆解求解方法,为后续的控制编程提供可靠的变量参数.与固定式空间6R机器人相比,清障机器人既有转动关节又有平动关节,使求解难度增加.求逆解时采用了双变量反正切函数,提供了两个自变量数值,只需两次逆矩阵连乘,避免了漏解的出现.当有多解出现时,结合变量的值域加以取舍,不会影响到其他变量的求解,与几何法相比降低了计算量,并且适用于所有平面连杆机构.通过Adams建立运动学模型,进行了仿真分析,结果表明这种算法准确可靠,机械臂运行平稳.
Based on the DH method, the kinematics modeling and analysis of high-pressure line inspection robotic wrecker robot is presented, and an effective kinematic positive and inverse solution method is proposed to provide reliable variable parameters for subsequent control programming Compared with the fixed space 6R robots, the robot has both rotating and translational joints, which makes it more difficult to solve the problem.When the inverse solution is used, the bivariate arctangent function is used to provide the values of two independent variables Multiply the two inverse matrices to avoid the occurrence of leaky solution.When there are multiple solutions, combine with the range of variables, it will not affect the solution of other variables, and reduce the computational cost compared with the geometric method, All planar linkage mechanism.A kinematics model was built by Adams, and the simulation analysis was carried out. The results show that the algorithm is accurate and reliable, and the manipulator runs smoothly.