六自由度机械臂运动学分析与仿真  

Kinematics analysis and simulation of six degrees of freedom manipulator

作　　者：张化平[1] 王宇航 陈汉卿 

机构地区：[1]兰州石化职业技术学院,兰州730060 [2]兰州理工大学机电工程学院,兰州730050

出　　处：《工业仪表与自动化装置》2017年第5期127-130,共4页Industrial Instrumentation & Automation

摘　　要：针对安川弧焊工业机器人手臂MOTOMAN-MA1400的构型特点,采用D-H法建立了机械臂的连杆坐标系,得到了以关节角度为变量的正运动学方程,利用Matlab进行正逆运动学计算以及机械臂末端点的轨迹规划。为了验证正逆运动学模型的正确性,直观地观察机械臂各部分运动情况,采用Pro-E建立了机械臂的三维实体模型。将角度变量值导入模型,开发了机械臂运动仿真平台。仿真结果与理论计算一致,从而验证了算法的正确性,并完成了机械臂的运动仿真,为机械臂在矿山领域的实际应用提供了理论参考。According to the configuration of Yaskawa arc welding manipulator MOTOMAN -MA1400, coordination system of link is established with D-H method, based on which the kinematic e-quation with the joint angles as variables is obtained. In addition, kinematic and inverse kinematic com-putation and path planning of manipulator terminal are carried out by Matlab. In order to verify the cor-rectness of the kinematics and inverse kinematics models and to observe the motion of each part of the manipulator intuitively, 3D solid model of the manipulator is established by Pro-E. The angle variable value is introduced into the model, and the robot movement simulation platform is developed. The simu-lated results are in agreement with the that from theoretical calculation, which verifies the correctness of the algorithm and completes the motion simulation of the manipulator, providing a theoretical reference for the practical application of the manipulator in the mine field.

关 键 词：机械臂 运动学 仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]