Workspace Analysis of a 7R Manipulator with Link Offset
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,th...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2016-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.08.018 |
| Summary: | 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. |
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| ISSN: | 1004-2539 |