4自由度示教机械手构型设计与运动分析  

Design and Kinematic Analysis of the Robot Manipulator with Four Degrees of Freedom for Teaching

作　　者：高蕾娜[1] 刘丽[1] 唐辉阳 

机构地区：[1]成都大学机械工程学院,四川成都610106

出　　处：《实验室研究与探索》2016年第7期44-47,84,共5页Research and Exploration In Laboratory

基　　金：四川省教育厅科研项目(14ZB0373)

摘　　要：设计一个示教用通用型关节式4自由度机械手的三维模型,主要由旋转底座、大臂俯仰关节、小臂俯仰关节、腕部旋转关节构成,通过关节舵机作为驱动装置实现机械手的运动。采用D-H法进行运动建模得出位姿齐次坐标变换矩阵并给出实例,通过Solid Works Motion实现运动算例和动态仿真效果,从而验证运动模型。编程求解机械手工作空间并用末端位置的坐标点阵表示,通过对位姿变换矩阵的运算得到机械手逆运动学方程并求解。This paper designs a 3D model of joints type manipulator with four degrees of fieedom tor teaching. It is mainly composed of the rotating base, big arm joint, forearm joint, wrist joint and driven by steering engines located on the joints of the manipulator. By using the method of D-H parameters, the kinematics mathematical model of the manipulator is established to achieve the position homogeneous coordinate transformation matrix, and a motion example has been realized through SolidWorks Motion. The motion simulation and results verification show the correctness of the model. The robot working space has been solved by programming and it has been represented by dot matrix diagram of the end position coordinates. The inverse kinematics equations of the manipulator have been obtained and solved by the computation of the pose transformation matrix.

关 键 词：机械手 示教 运动学分析 运动空间 运动仿真 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]