基于D-H参数的六轴机器人运动学分析与仿真  

Kinematics Analysis and Simulation of Six Axis Robot Based on D-H Parameters

作　　者：周杨 杨旗[1] 闫为佳 ZHOU Yang;YANG Qi;YAN Wei-jia(School of Mechanical Engineering,Shenyang Ligong University,Shenyang 110159,China)

机构地区：[1]沈阳理工大学机械工程学院,辽宁沈阳110159

出　　处：《机械工程与自动化》2024年第3期56-58,共3页Mechanical Engineering & Automation

摘　　要：将六轴协作机器人作为研究目标,对其进行了运动学分析,并通过D-H参数法实现了机器人的运动学研究与模拟,同时利用机器人的尺寸图与结构图建立连杆坐标系并形成了相关的参数表,在相同关节角度上分别通过正、逆运动理论与MATLAB模型中的方法实现了机器人末端的姿态计算与模型的正确性检验。通过蒙特卡洛算法可以计算出机器人的空间点云图,通过MATLAB工具包可以计算出机器人末端节点的位置、速度和加速度的拟合曲线。Taking the six axis cooperative robot as the research goal,Kinematics analysis was carried out,and the Kinematics research and simulation of the robot were realized through the D-H parameter method.At the same time,the connecting rod coordinate system is established by using the size diagram and structure diagram of the robot and the relevant parameter table is formed.The pose calculation of the robot's end effector and the correctness verification of the model were achieved using forward and inverse motion theory and MATLAB model methods at the same joint angle.Through the Monte Carlo algorithm,the robot's space point cloud can be calculated.Then,through the MATLAB tool kit,the position of the robot's end node and the model fitting curve of speed and acceleration can be calculated.

关 键 词：D-H参数法 六轴机器人 样条曲线 运动轨迹规划 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置] TP391.92[自动化与计算机技术—控制科学与工程]