五自由度机械手运动学分析与仿真研究  

Analysis of Five-Degree-of-Freedom Manipulator Kinematics and Simulation Study

作　　者：侯歆岩 Hou Xinyan(Taiyuan University of Science and Technology, Taiyuan 030000, China)

机构地区：[1]太原科技大学,太原030000

出　　处：《黑龙江科学》2020年第16期28-29,共2页Heilongjiang Science

摘　　要：为解决五自由度机械手正逆解问题以及在工作中不同运动路径轨迹时各个关节角度的问题,基于D-H法对5R机械臂进行了坐标建模并确定其连杆参数,以对其进行运动学分析。通过MATLAB进行实物建模,并调用Robotics Toolbox对模型进行仿真研究,验证了所求运动学正解及反解的正确性。In order to solve the forward and inverse problems of a five-degree-of-freedom manipulator and the problem of each joint angle when the manipulator has different path trajectories in its work,the coordinate model of the 5R manipulator is built based on the D-H method,its connecting rod parameters are determined,and the kinematics of the robot is analyzed.Through MATLAB,entity modeling is done.The Robotics Toolbox is used to simulate the model to verify the correctness of the forward and inverse kinematics solutions.

关 键 词：五自由度机械手 运动学 仿真 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]