【摘要】 针对传统机械臂输出转矩较小的问题,设计了基于叶片式液压摆动油缸(摆缸)作为关节的6自由度液压机械臂,该液压机械臂具有诸多优势,其最大的优点是具有很高的负重比。运用改进的D-H法建立了该液压机械臂的运动学模型,得出其正运动学方程。在MATLAB中进行了液压机械臂的轨迹规划仿真,得到了各关节转角的特性曲线,验证了液压机械臂结构设计的合理性。利用蒙特卡洛法分析计算了其工作空间,借助MATLAB绘制了其末端执行器的工作空间云图,为今后液压机械臂的深入研究提供了重要依据。更多还原

【Abstract】 Aiming at the problem of low output torque of traditional mechanical arm,a six-degrees-of-freedom hydraulic manipulator based on rotary vane actuator( RVA) joint was designed. The hydraulic robot has many advantages. The greatest advantage of this manipulator is its higher weight ratio. The kinematics modeling and positive kinematics equation of the hydraulic manipulator were performed by the modified DH method. The trajectory planning of the hydraulic manipulator was simulated by MATLAB. The characteristic curve of each joint angle was obtained, so as to verify the rationality of the design of the hydraulic manipulator structure. Based on the Monte Carlo method,its working space was analyzed,and the working space cloud diagram of its end effector was drawn. The reference basis is provided for follow-up indepth study of the hydraulic manipulators.更多还原