《一种移动机械手的运动规划研究》.docVIP

摘 要 移动机械手作为一种新型工具，在减轻劳动强度，提高劳动生产率和自动化水平等方面显示出极大的优越性。它由移动平台和多关节机械手组成，具有移动和操作两种功能。 本文对移动机械手进行了总体方案设计，设计计算了电机的输出力矩，手指工作所需的驱动力等；并根据移动机械手的运动学特征，创建其雅克比矩阵，根据移动机械手的操作度椭圆，完成其运动规划及运动仿真。即在满足机械手末端效应器运动的同时，寻找移动平台的合理运动轨迹。其意义在于利用本套控制系统实现移动机械手部分运动规划、控制，完成动态目标抓取任务，很好的发挥其移动性和操作性两种功能，有利于实现机器人的避障，从而为移动机器人平台研究提供更加全面的实验数据。 关键词：机械手；运动仿真；自由度；液压传动；操作度 ABSTRACT As a new implement,mobile manipulator has show a great advantage in reduce work intension,improve work productivity and robotization level.It consist of mobile platform and polyarticular manipulator,has two function of mobile and operate. This text make a genenal project design for mobile manipulator,design and figure out motor′s output moment of a force,driving force for finger and so on;and on zhe basis of kinematics character of mobile manipulator,set up its jacobi matrix,on the basis of operational readiness ellipse of mobile manipulator,accomplish its motion programming and motion emulation.That is as soon as suffice the motion of manipulator′s extremity effective apparatus,search for mobile platform′s reasonable motion trail.It meaning meak use of this control system in order to achieve proportion motion programming and motion emulation of mobile manipulator, accomplish dynamic objective snatch mission,exert its two function of mobile and operate,in favour of achieve asuro of robot,thereby afford more comprehensive experimentation data for the study of mobile robot platform. Key words：manipulator；motion simulation；body freedom；hydraulic power transmission；operational readiness 目 录 摘要…………………………………………………………..…….….…………….. .I ABSTRACT……………………………………….……………………..…………….II 1 前言………… ...........…….…………………………………………….….……………..1 1.1 选题背景与意义……..........................………….………….………..1 1.2 机械手的概念和组成.........……….......…………….………….………..1 1.3 机械手在国内外发展状况…………………………….…....……..………2 1.4 课题的提出及主要任务......................…………………………….…....………. 5 2 机械手机械部分设计计算......……..….………………………….…..….………….6 2.1 机械手的