Analysis of the Forward Kinematics and Workspace of 8-DOF Manipulator

Li Yawei; Huang Jinying

doi:10.16578/j.issn.1004.2539.2016.04.020

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Analysis of the Forward Kinematics and Workspace of 8-DOF Manipulator

更新时间：2022-10-20

- Analysis of the Forward Kinematics and Workspace of 8-DOF Manipulator
- Vol. 40, Issue 4, Pages: 94-96(2016)
- 作者机构：
  
  1. 中北大学机械与动力工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2016.04.020
  CLC：
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[1]李亚玮,黄晋英.八自由度机械臂正运动学及工作空间分析[J].机械传动,2016,40(04):94-96.

Li Yawei, Huang Jinying. Analysis of the Forward Kinematics and Workspace of 8-DOF Manipulator. [J]. 40(4):94-96(2016)
[1]李亚玮,黄晋英.八自由度机械臂正运动学及工作空间分析[J].机械传动,2016,40(04):94-96. DOI： 10.16578/j.issn.1004.2539.2016.04.020.

Li Yawei, Huang Jinying. Analysis of the Forward Kinematics and Workspace of 8-DOF Manipulator. [J]. 40(4):94-96(2016) DOI： 10.16578/j.issn.1004.2539.2016.04.020.

摘要

对一种八自由度机械臂的正运动学和工作空间问题进行了研究。首先,根据机械臂的结构特点,利用D-H法建立了该机械臂的连杆坐标系,得到其运动学正解;其次,利用MATLAB Robotics Toolbox建立机械臂的仿真模型,验证了机械臂运动学正解的正确性;最后,根据末端执行器的位置向量,采用蒙特卡洛法对机械臂的工作空间进行了分析,得到机械臂末端执行器的工作空间范围,仿真结果与机械臂的设计参数相符。

Abstract

A study on the issue that the forward kinematics and workspace of a manipulator with 8--DOF is carried out.Firstly,according to the structural characteristics of the manipulator,the link coordinate system of manipulator are established by using D-H method,and its forward kinematics is obtained.Secondly,the simulation model of manipulator is set up by using the MATLAB Robotics Toolbox,and the correctness of the kinematics forward solution is testified.Finally,according to the position vector of the end actuator,the Monte Carlo method is applied to analyze the manipulator workspace,and the workspace range of the manipulator end actuator is acquired,and it is consistent with the design parameters of the manipulator.

关键词

机械臂正运动学工作空间

Keywords

ManipulatorForward kinematicsWorkspace

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