六自由度机械臂运动学分析与仿真研究  

Simulation Study and Analysis of Six Degrees of Freedom Manipulator Kinematics

作　　者：肖俊明[1] 韩伟 王瑷珲[1] 李继朋 梁旺 XIAO Junming;HAN Wei;WANG Aihui;LI Jipeng;LIANG Wang(School of Electronic and Information,Zhongyuan University of Technology,Zhengzhou 450007,China)

机构地区：[1]中原工学院电子信息学院,河南郑州450007

出　　处：《中原工学院学报》2018年第4期77-83,共7页Journal of Zhongyuan University of Technology

摘　　要：运用D-H参数法确定机械臂的参数、坐标系,建立机械臂的运动学方程。在Matlab软件中进行数值计算,通过分析机械臂的工作空间,得到了机械臂工作空间图。在Matlab工作环境下,用机器人工具箱Robotics Toolbox对所建六自由度机械臂运动学模型的正运动学、逆运动学、轨迹规划进行验证与仿真,得到了各关节的角位移、角速度、角加速度与时间的关系曲线。研究表明,该机械臂运动空间设计直观、精确,为机械臂控制系统设计、动力学分析及轨迹规划提供了理论基础和参考依据。By using the D-H method to determine the parameters and the coordinating system of the manipulator,this study established the kinematics equation of the manipulator.By using the software Matlab to calculate and analyze the working space of the manipulator,the study got the work space map of the manipulator.Under the software Matlab working environment,by using robotics toolbox to simulate the positive kinematics,the inverse kinematics and the trajectory planning of the movement model of the manipulator,the study obtained the curve graphs of the angular displacement,angular velocity,angular acceleration of each joint with changing of time.The result shows that the design of the motion space of the manipulator is more intuitive and accurate.Thus this study provides the theoretical basis and reference for the design of the manipulator control system,dynamic analysis and trajectory planning.

关 键 词：机械臂 六自由度 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]