基于Matlab的机械手运动学分析与仿真  

Kinematic Analysis and Simulation of Robot Based on Matlab

作　　者：陈洋[1] 管殿柱[1] Chen Yang;Guan Dianzhu(College of Mechatronics Engineering, Qingdao University, Qingdao 266071,China)

机构地区：[1]青岛大学机电学院,山东青岛266071

出　　处：《湖北汽车工业学院学报》2016年第4期47-51,64,共6页Journal of Hubei University Of Automotive Technology

摘　　要：在Solidworks中对上下料机械手进行三维建模,运用Craig版本的D-H法来描述机器人的连杆参数和关节变量,运用代数法求解出其运动学方程,在Marlab Robotics Toolbox中运用Link函数对其建模,并对其进行正向和逆向运动学仿真,从而验证数学方程的正确性。选取一小段路径对其进行轨迹规划,得出机械手末端执行器的空间轨迹以及各关节连续平稳的位移、速度和加速度曲线,延长了机器人的使用寿命,为机械手后期的动力学分析和控制研究提供了一定的理论基础。The three-dimensional modeling of the loading and unloading robot was carried out in Solidworks, the link parameters and joint variables of the robot was described by the D-H method of Craig version, and the kinematic equation was obtained by the algebraic method. The robot was modeled by the Link function in Matlab Robotics Toolbox, then the forward and inverse kinematics of the robot was simulated to verify the correctness of the mathematical equations. A short path was selected to do thetrajectory planning, and the space trajectory of the manipulator end-effector, continuous and smooth displacement, velocity and acceleration curves of each joint was obtained. It prolongs the service life of the robot, and provides theoretical basis for the later dynamics analysis and control research.

关 键 词：上下料机械手 运动学分析 RoboticsToolbox 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]