六自由度机器人运动学模型建立及分析  

Establishment and Analysis of Kinematic Model of 6-DOF Robot

作　　者：黎万波 廖益龙 徐坤财 向泓兴 赵相东 LI Wanbo;LIAO Yilong;XU Kuncai;XIANG Hongxing;ZHAO Xiangdong(Department of Automotive Engineering,Guizhou Equipment Manufacturing Polytechnic,Guiyang 551400,China;Department of Intelligent Engineering,Guiyang Institute of Information Science and Technology,Guiyang 550000,China)

机构地区：[1]贵州装备制造职业学院汽车工程系,贵州贵阳551400 [2]贵阳信息科技学院智能工程系,贵州贵阳550000

出　　处：《机械工程与自动化》2025年第2期68-70,共3页Mechanical Engineering & Automation

基　　金：贵阳信息科技学院校级教学改革项目(2022JG021);贵州装备制造职业学院校级重点科研项目(ZBKY2024-Z001)。

摘　　要：针对工业机器人在二次开发过程中计算复杂度高、运动学分析复杂等问题,采用DH方法建立了工业机器人的运动学模型。基于运动学数据,在MATLAB软件中构建了机器人模型。所构建的机器人模型与原机器人运动情况一致,证明了该运动学模型可正确表征原机器人。同时运用机器人正、逆解理论,通过给定的姿态数据,验证了该运动学模型应用于运动学分析的正确性和有效性。运动学模型运用于机器人的运动学正逆解分析中,可简化分析过程,提升计算效率。In order to solve the problems of high computational complexity and complex kinematics analysis during the secondary development of industrial robots,the kinematic model of industrial robots is established by DH method.Based on kinematics data,the robot model is built in MATLAB software.The motion of the robot model is consistent with that of the original robot,which proves that the kinematics model can represent the original robot correctly.At the same time,the forward and inverse solution theory of robot is used to verify the correctness and effectiveness of the kinematics model applied to the kinematics analysis through the given attitude data.The kinematics model can be used to analyze the forward and inverse kinematics of the robot,which can simplify the analysis process and improve the calculation efficiency.

关 键 词：工业机器人 DH方法 运动学模型 正逆解分析 

分 类 号：TP391.7[自动化与计算机技术—计算机应用技术] TP242.2[自动化与计算机技术—计算机科学与技术]