六自由度机械臂运动学分析与仿真  

Kinematics analysis and simulation of a six-degree-of-freedom manipulator

作　　者：吴万欣 田军委[1] 丁良华 张云辉[1] WU Wanxin;TIAN Junwei;DING Lianghua;ZHANG Yunhui(School of Mechatronic and Engineering,Xian Technological University,Shaanxi 710021,China;Inner Mongolia North Heavy Industries Group CORP.Ltd.,Baotou 014033,China)

机构地区：[1]西安工业大学机电工程学院,西安710021 [2]内蒙古北方重工业集团有限公司,包头014033

出　　处：《天津理工大学学报》2022年第1期8-12,22,共6页Journal of Tianjin University of Technology

基　　金：陕西省科技厅重点项目(2019GY-123,2020GY-188)。

摘　　要：为检验六自由度机械臂设计合理性,对其进行运动学建模及仿真。首先,依据Denevit-Hartenberg(DH)法建立机械臂的运动学模型。其次,对机械臂进行正向运动学理论分析。最后,利用MATLAB软件对机械臂正向运动学和末端执行器的可达空间进行了仿真分析。对机械臂进行正向运动学仿真分析后发现,仿真结果与理论计算值相差很小。对机械臂的可达空间进行仿真分析发现,机械臂的运动轨迹近乎球形,且在xoy、xoz和yoz平面投影上没发现明显空洞或空腔。仿真结果表明,六自由度机械臂的设计满足设计要求。To test the rationality of the design of the six-degree-of-freedom manipulator,kinematics modeling and simulation were carried out.Firstly,the kinematics model of the robotic arm according to the Denevit-Hartenberg(D-H)method is es⁃tablished.Secondly,theoretical analyses of the forward kinematics of the robotic arm are carried out.Finally,MATLAB soft⁃ware is used to simulate the forward kinematics of the manipulator and the reachable space of the end effector.After the for⁃ward kinematics simulation analysis of the manipulator,it is found that the simulation results are very small different from the theoretical calculation values.The simulation analysis of the reachable space of the manipulator found that the motion tra⁃jectory of the manipulator is almost spherical,and no obvious cavity is found on the xoy,xoz and yoz plane projections.The simulation results show that the design of the six-degree-of-freedom manipulator meets the design requirements.

关 键 词：六自由度 机械臂 运动学分析 仿真 蒙特卡洛法 

分 类 号：TH122[机械工程—机械设计及理论]