非线性结点探测器的关节设计与分析

摘要

A portable nonlinear junction detec-tor of 4 joints is designed,which solves the prob-lems of limited detection height and inconvenience to carry and operate.Its forward kinematics and working space is separately analyzed by using D-H modeling and the Monte Carlo method.The sim-ulation and experiment results both prove that the junction detector has the features of large in work-ing space and convenient in operation,and the joints design is reasonable.%设计了一种具有4个关节的便捷式非线性结点探测器，以解决产品探测高度有限、携带与操作不便等问题。采用 D-H 建模方法和蒙特卡洛方法，分别对其进行运动学分析和工作空间分析。仿真和试验结果都验证，结点探测器样机工作空间大，操作简单，各关节设计比较合理。因此，得到一种多关节结构的设计方法。