六自由度机械臂的运动学分析和轨迹规划研究  

Kinematics Analysis and Trajectory Planning Research on Six-degree of Freedom Manipulator

作　　者：孙龙 李长勇[1] 陈立新 周江林[1] Sun Long;Li Changyong;Chen Lixin;Zhou Jianglin(School of Mechanical Engineering,Xinjiang University,Urumqi 830047,China)

机构地区：[1]新疆大学机械工程学院,乌鲁木齐830047

出　　处：《煤矿机械》2021年第3期41-44,共4页Coal Mine Machinery

摘　　要：针对现有六自由度机械臂在完成对目标物体抓取的过程中运动轨迹偏差较大和不平稳的问题,以六自由度机械臂为研究对象,并在SolidWorks平台下建立三维模型。运用D-H法建立运动学模型,完成正运动学分析,并利用数值法确定机械臂在空间中的活动范围。采用五次多项式插值算法对六自由度机械臂的运动轨迹进行规划,并在MATLAB软件环境下仿真得到机械臂末端点从起始点到目标点在空间中沿三坐标轴的位移变化曲线和运动轨迹。研究结果表明,六自由度机械臂机械结构参数设计合理,在两点之间采用五次多项式插值算法对机械臂运动轨迹进行规划,所得运动轨迹曲线连续平滑,没有跳变点,具有一定的应用价值。Aiming at the problems of large deviation and instability of the motion trajectory of the existing six-degree of freedom(6-DOF) manipulator in the process of grasping the target object,taking the 6-DOF manipulator as the research object, and established the three-dimensional model under the platform of SolidWorks. D-H method was used to establish the kinematics model, completed the forward kinematics analysis, and used the numerical method to determine the range of motion of the manipulator in space. The motion trajectory of 6-DOF manipulator was planned by quintic polynomial interpolation algorithm, and the displacement curve and motion trajectory of the end point of the manipulator along the three coordinate axes from the starting point to the target point were obtained by simulation in MATLAB software environment. The results show that the mechanical structure parameters of the 6-DOF manipulator are designed reasonably,the quintic polynomial interpolation algorithm is used to plan the trajectory of the manipulator between the two points,the trajectory curve obtained is continuous and smooth without jump points, which has certain application value.

关 键 词：机械臂 运动学分析 工作空间 轨迹规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]