基于D-H法的挤奶机器人机械臂运动学分析

摘要

为了保证挤奶机器人的机械臂能够满足使用要求和精度,并快速可靠地工作,对其进行运动学分析. 采用D-H法对机械臂的位姿和坐标变换进行建模,通过设置机械臂各杆件坐标系,确定各杆件的齐次坐标变换矩阵,并建立挤奶机器人机械臂运动学方程. 分析结果表明,所设计的机械臂能够满足使用要求.%In order to ensure the mechanical arm of milking robot can meet the requirement of using and accuracy, and can work speedily and reliably, the article did the analysis of kinematics for it. It took D-H method to make model for pose and coordinate transformation of mechanical arm, determined the homogeneous coordinate transformation matrix of each bar by setting each link coordinate system for the mechanical arm, and established kinematics equation for milking robot mechanical arm. The analysis result showed that the design of mechanical arm can meet the request of using.