关键词: 龙门式作业机械臂, 运动学分析, 避障路径规划

Abstract: Aiming at the situation that the series manipulator cannot work reliably for a long time in the high temperature environment, this paper designed a double-gantry manipulator suitable for the high temperature harsh environment, derived its kinematics model, and carried out the motion simulation. Firstly, the gantry manipulator is transformed into an equivalent series manipulator. Then the D-H method was used to model the equivalent manipulator, and the forward and inverse kinematics equations of the gantry manipulator were derived. The relationship model between the end pose of the manipulator and the parameters of the driving joint was given. Finally, combined with obstacle avoidance path planning, the correctness of the forward and inverse kinematics equations is verified through simulation analysis, which shows that the designed gantry manipulator can achieve the predetermined functions.