摄像机械手结构设计及运动学方程求解

辽宁石油化工大学学报 ›› 2008, Vol. 28 ›› Issue (4): 51-53.

摄像机械手结构设计及运动学方程求解

姜洋，唐晓初*

辽宁石油化工大学机械学院，辽宁抚顺 113001

收稿日期:2008-07-07 出版日期:2008-12-20 发布日期:2017-07-25

Camera Manipulator Structure Design and Solution of Kinematics Equations

JIANG Yang， TANG Xiao-chu*

School of Mechanical Engineering, Liaoning University of Petroleum & Chemical Technology,Fushun Liaoning 113001,P.R.China

Received:2008-07-07 Published:2008-12-20 Online:2017-07-25

摘要/Abstract

摘要： 针对传统拍照方式和大型摄像吊臂存在的问题和弊端，设计一种可以实现摄像吊臂功能的机械手。对摄像机械手的关节个数及运动副进行设计，使其完成摄像吊臂的基本功能。并通过Denavi-Hartenberg（D-H）方法，建立机械手的运动学数学模型，且进行了正、逆运动学分析，实现了摄像机械手的运动学方程的求解。

关键词: 摄像, 机械手, 运动学

Abstract: As the traditional way of taking photographs has many problems and the large-scale camera has some disadvantages, a camera manipulator instead of the functions of camera crane was designed. The number of joint of the camera manipulator and deputy campaign were designed to complete the basic functions of camera crane. By D-H methods, the manipulator kinematics model was established and the positives and inverse kinematics analysis were carried out. Thus the equation of the camera manipulator was solved.

Key words: Camera, Manipulator, Kinematics

姜洋，唐晓初. 摄像机械手结构设计及运动学方程求解[J]. 辽宁石油化工大学学报, 2008, 28(4): 51-53.

JIANG Yang， TANG Xiao-chu. Camera Manipulator Structure Design and Solution of Kinematics Equations[J]. Journal of Liaoning Petrochemical University, 2008, 28(4): 51-53.

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