Open Access
表 1
7自由度空间冗余机械臂各结构参数
| 编号(i) | 质量/kg | 长度/m | 惯性参数 | D-H参数 | ||||||
| Ixx/(kg·m2) | Iyy/(kg·m2) | Izz/(kg·m2) | ai-1/m | αi-1/deg | di/m | qi/deg | ||||
| 0 | 5 000.00 | 6.00 | 3.00e3 | 6.00e3 | 4.00e3 | |||||
| 1 | 20.00 | 0.35 | 2.00 | 2.00 | 3.00 | 0.00 | 0.00 | 4.20 | q1 | |
| 2 | 20.00 | 0.35 | 2.00 | 2.00 | 3.00 | 0.00 | 90.00 | 0.35 | q2 | |
| 3 | 40.00 | 4.00 | 1.00 | 40.00 | 40.00 | 0.00 | 90.00 | 0.35 | q3 | |
| 4 | 40.00 | 4.00 | 1.00 | 40.00 | 40.00 | 4.00 | 0.00 | 0.00 | q4 | |
| 5 | 20.00 | 0.35 | 2.00 | 2.00 | 3.00 | 4.00 | 0.00 | 0.35 | q5 | |
| 6 | 20.00 | 0.35 | 2.00 | 2.00 | 3.00 | 0.00 | 90.00 | 0.35 | q6 | |
| 7 | 40.00 | 1.20 | 10.00 | 8.00 | 4.00 | 0.00 | 90.00 | 1.20 | q7 | |
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