三自由度机械臂运动学求解、仿真  

Kinematic Solution and Simulation of Three Degree-of-freedom Mechanical Arm

作　　者：刘梦军[1] 来跃深[1] 贺倩倩[1] 常宏 LIU Mengjun;LAI Yueshen;HE Qianqian;CHANG Hong(School of Mechatronic Engineering, Xi'an Technological University, Xi'an 710021, China;Xi'an R&D Center, POLARIS ETEK, Xi'an710065, China)

机构地区：[1]西安工业大学机电工程学院,西安710021 [2]深圳市北辰亿科科技有限公司,西安研发中心,西安710065

出　　处：《机械工程师》2017年第4期34-36,共3页Mechanical Engineer

摘　　要：以三自由度关节型机械臂为研究对象,对其运动学正、逆解进行求解运算;运算完成后使用Robotics Toolbox建立相应的运动学模型,对其求解结果进行仿真验证。Taking the three free joint type of mechanical arm as the research object,the solution of arm kinematics and inverse kinematics is solved.After the operation,the corresponding kinematics model is established by the Robotic toolbox,and the results are validated by simulation.

关 键 词：机械臂 运动学 RcbotfcslDobox 

分 类 号：TH112[机械工程—机械设计及理论]