Mechanism Design and Kinematics Analysis of a 6-DOF Manipulator

Pan Mingzhang; Wang Shuo; Li Jing; Liang Ke

doi:10.16578/j.issn.1004.2539.2024.06.008

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Mechanism Design and Kinematics Analysis of a 6-DOF Manipulator

Design· Calculation | 更新时间：2024-06-19

- Mechanism Design and Kinematics Analysis of a 6-DOF Manipulator
- Journal of Mechanical Transmission Vol. 48, Issue 6, Pages: 50-57(2024)
- 作者机构：
  
  广西大学机械工程学院，广西南宁 530004
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2024.06.008
  CLC：
- Published：15 June 2024，
  
  Received：14 March 2023，
扫描看全文
潘明章,王硕,李劲等.一种6自由度机械臂的结构设计和运动学分析[J].机械传动,2024,48(06):50-57.

Pan Mingzhang,Wang Shuo,Li Jing,et al.Mechanism Design and Kinematics Analysis of a 6-DOF Manipulator[J].Journal of Mechanical Transmission,2024,48(06):50-57.
潘明章,王硕,李劲等.一种6自由度机械臂的结构设计和运动学分析[J].机械传动,2024,48(06):50-57. DOI： 10.16578/j.issn.1004.2539.2024.06.008.

Pan Mingzhang,Wang Shuo,Li Jing,et al.Mechanism Design and Kinematics Analysis of a 6-DOF Manipulator[J].Journal of Mechanical Transmission,2024,48(06):50-57. DOI： 10.16578/j.issn.1004.2539.2024.06.008.

摘要

针对传统机械臂惯性大、灵活性低和难以在狭小空间作业的问题，设计了一种新型的具有6自由度的丝传动机械臂，并对其正逆运动学等问题进行了研究。对该新型机械臂中的自转关节、平行四边形关节和蛇形关节的运动学特性进行分析，建立了该机械臂的正逆运动学模型；在Matlab环境中进行仿真实验，对所提出的正逆运动学模型进行了位置和姿态的验证。结果表明，所提的运动学模型能够很好地用于该机械臂末端位置控制。最后，利用蒙特卡洛法计算出了机械臂的工作空间。

Abstract

Aiming at the problems of large inertia

low flexibility and difficulty in working in narrow space of traditional manipulators

a new type of wire-driven manipulator with 6-DOF is designed

and its forward and inverse kinematics are studied. The kinematics characteristics of the rotation joint

parallelogram joint and snake joint in the new manipulator are analyzed

and the forward and inverse kinematics models of the manipulator are established. The simulation experiment is carried out in Matlab environment

and the position and posture of the proposed forward and inverse kinematics model are verified. The results show that the proposed kinematics model can be well used for the end position control of the manipulator. Finally

the workspace of the manipulator is calculated by the Monte Carlo method.

关键词

丝传动机械臂运动学仿真分析工作空间

Keywords

Wire-driven manipulatorKinematicSimulation analysisWorkspace

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