基于MATLAB的码垛机械手运动学分析与仿真  

Kinematics Analysis and Simulation of a Palletizing Manipulator Based on MATLAB

作　　者：黄旭楠[1] 岳夏[1] 冼颂智 

机构地区：[1]广州大学机械与电气工程学院,广东广州510006

出　　处：《机床与液压》2017年第5期35-39,共5页Machine Tool & Hydraulics

摘　　要：对一种五自由度码垛机械手建模,采用改进版D-H法建立起机械手的7个连杆坐标系,通过坐标变换推导出机械手末端工具坐标系相对基座的位姿,由关节变量分离法求得逆运动学问题中5个关节角的解析式,最后使用Robotics Toolbox提供的函数在MATLAB环境下建立起机械手运动学仿真模型并进行实例仿真,指出常规的逆解验证过程存在的不足进而提出采用相应的补充验证手段的观点,验证了正、逆运动学求解的正确性,为后续分析、控制与优化提供运动学参考。The model was established for a palletizing manipulator with five degree of freedom （ 5-DOF）, and modified form of Denavit-Hartenberg （D-H） convention was applied to establish coordinate in attaching seven link frames to the manipulator. Then, the link coordinate transformations were used together to find the pose of tool coordinate of the manipulator end related to the base frame. By using the separating link variables algorithm to work out the inverse kinematics, analytic expressions of five joint angles were obtained. Finally, the functions provided by Robotics Toolbox were used to modeling and case simulation of kinematics of the manipulator under the environment of MATLAB. The deficiencies of conventional verification process of the inverse kinematics and correspondingly used supplementary measures to solve the problem were pointed out. The simulation results verify the correctness of the forward and inverse kinematics solutions, which can provide kinematics basis for subsequent analysis, motion control and optimization.

关 键 词：机械手 五自由度 运动学 MATLAB 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TH113[自动化与计算机技术—控制科学与工程]