5-DOF机械手运动学与轨迹规划分析  

Kinematics and Trajectory Planning Analysis of 5-DOF Manipulator

作　　者：刘亚文 周志远 王杰 余联庆 李红军 Liu Yawen1,2 ,Zhou Zhiyuan1, 2 ,Wang Jie1, 2 , Yu Lianqing1,2, Li Hongjun1 , 2(1 School of Mechanical Engineering and Automation, Wuhan Textile University , Wuhan 430073 , China）（2 Industrial Detonator Intelligent Assembly Hubei Engineering Research Center, Wuhan 430073 , China)

机构地区：[1]武汉纺织大学机械工程与自动化学院,湖北武汉430073 [2]工业雷管智能装配湖北省工程研究中心,湖北武汉430073

出　　处：《机械传动》2018年第5期143-147,共5页Journal of Mechanical Transmission

摘　　要：针对所设计的5-DOF机械手,使用D-H参数法建立正运动学模型,并利用反变换法结合几何法得到了逆运动学的封闭解表达式。通过求解目标轨迹上路径点的逆解,利用MATLAB软件进行了逆运动学仿真,分别对两组逆解进行轨迹规划,得到相同的末端轨迹,验证了关节角逆运动学方程关系及其正确性。在此基础上,对符合关节转角范围的一组逆解进行多项式拟合,并采取分段拟合的方法,降低多项式次数并减小了误差,得到关节变量关于时间t的显示解析式,拟合结果精确,便于实现对输入舵机的实时控制。最后,利用机构测量仿真,证明了拟合解析式的准确性。Aiming at the designed 5-DOF manipulator,the forward kinematics model is established by using D-H method,and the closed expression of inverse kinematics is obtained by using the inverse transformation method and geometry method. By solving the inverse solution of the path points on the target trajectory,the inverse kinematics simulation is carried out by MATLAB. The two groups of the inverse solution are planed trajectory respectively,and the same trajectory is obtained,the relationship and its correctness between the kinematics equation of the joint angle is verified. On this basis,the polynomial fitting of a set of inverse solutions satisfying the joint angle range is carried out,and adopted sectional fitting method to reduce the degree of polynomial and the error,the analytical expression of the joint variable about the time t is obtained,the fitting result is accurate,achieves real-time control of the input gear easily. The method in a mechanism simulation is verified by Solid Works,the correctness of the analytical expression is proved.

关 键 词：五自由度机械手 运动学 MATLAB仿真 分段曲线拟合 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]