Workspace Analysis of a 7R Manipulator with Link Offset

Wang Yongjie; Fu Tie; Liu Yujia; Zhu Zhaohui

doi:10.16578/j.issn.1004.2539.2016.08.018

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Workspace Analysis of a 7R Manipulator with Link Offset

更新时间：2022-10-20

- Workspace Analysis of a 7R Manipulator with Link Offset
- Vol. 40, Issue 8, Pages: 82-85(2016)
- 作者机构：
  
  1. 北京理工大学机械与车辆学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2016.08.018
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[1]王勇杰,付铁,刘宇佳,朱朝辉.一种大臂偏置型7R机械臂的工作空间分析[J].机械传动,2016,40(08):82-85.

Wang Yongjie, Fu Tie, Liu Yujia, et al. Workspace Analysis of a 7R Manipulator with Link Offset. [J]. 40(8):82-85(2016)
[1]王勇杰,付铁,刘宇佳,朱朝辉.一种大臂偏置型7R机械臂的工作空间分析[J].机械传动,2016,40(08):82-85. DOI： 10.16578/j.issn.1004.2539.2016.08.018.

Wang Yongjie, Fu Tie, Liu Yujia, et al. Workspace Analysis of a 7R Manipulator with Link Offset. [J]. 40(8):82-85(2016) DOI： 10.16578/j.issn.1004.2539.2016.08.018.

摘要

针对一种大臂偏置型七自由度机械臂,应用D-H法建立了该机械臂的位置正解模型并进行了求解。在此基础上,采用蒙特卡洛方法对该机械臂的工作空间进行了求解和分析,借助Matlab平台得到了该机械臂的末端工作空间,并用几何法进行了验证。研究结果表明了蒙特卡洛方法求解工作空间的正确性和有效性,对此类机械臂的工作空间分析具有一定的参考价值。

Abstract

Aiming at a 7R manipulator with link offset at the shoulder,the forward position solution model is established by suing D- H method and the model is solved. Based on this,the workspace is studied and analyzed with Monte- Carlo method and the robotic workspace is drawn in Matlab software,meanwhile,the result is validated with geometric method. The result shows that Monte- Carlo method in solving the workspace of manipulator has its effectiveness and effectiveness,and it provides the reference for similar multi- joint manipulator.

关键词

7R机械臂工作空间蒙特卡洛法位置正解几何法

Keywords

7R manipulatorWorkspaceMonte-Carlo methodForward position solutionGeometric method

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