六自由度机械臂运动学分析与仿真研究  

Kinematic Analysis and Simulation of 6-DOF Manipulator

作　　者：何浪 谢明红[1] 刘驰弋 HE Lang;XIE Minghong;LIU Chiyi(College of Mechatronics and Automation,Huaqiao University,Xiameng 361021,China)

机构地区：[1]华侨大学机电及自动化学院,福建厦门361021

出　　处：《机械工程师》2022年第5期44-48,共5页Mechanical Engineer

摘　　要：针对六自由度机械手臂的运动学分析问题及其工作可靠性的探究,设计开发了一套基于Open GL的六自由度机械臂仿真软件。采用D-H参数法构建机械臂模型,对六自由度机械手臂进行了正、逆运动学分析,求解得到机械臂的正逆解。研究设计了机械臂的空间直线和圆弧插补算法,实现了机械臂在三维空间中按照目标轨迹的可靠运动。在VS2017软件开发平台,通过MFC框架以及Open GL库函数,设计开发了机械臂的运动仿真界面。仿真结果表明,软件能够实时模拟机械臂的运动过程和运动状态,机械臂末端执行器轨迹与目标轨迹重合性良好,为后期在机械臂实体上实验提供了可靠的理论依据。Aiming at the kinematics analysis of the 6-DOF mechanical arm and its working reliability, a set of simulation software based on OpenGL is designed and developed. The D-H parameter method is used to construct the manipulator model, and the forward and inverse kinematics of the 6-DOF manipulator are analyzed, and the forward and inverse solutions are obtained. The linear and circular interpolation algorithms of the manipulator are designed to realize the reliable motion of the manipulator according to the target trajectory in 3D space. Based on VS2017 software development platform, MFC framework and OpenGL library functions are used to design and develop the motion simulation interface of the manipulator. The simulation results show that the software can simulate the motion process and state of the manipulator in real time, and the trajectory of the end-effector of the manipulator overlaps well with the target trajectory,which provides a reliable theoretical basis for the later experiments on the manipulator.

关 键 词：六自由度机械臂 运动学 Open GL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]