Kinematics and Workspace Analysis of a 7-DOF Polishing Manipulator

This study takes the blade polishing manipulator of aeroengine as the research object, the M-D-H method was used to establish the connecting rod coordinate system, and the relationship between the coordinate systems was deduced, and the forward kinematics equation of the manipulator was obtained. According to the given initial pose, the kinematics equation of the manipulator was verified, and Monte Carlo method was used to simulate in Matlab, and the workspace diagram of the manipulator end was obtained.