基于SolidWorks-MATLAB-CoppeliaSim的机械臂轨迹规划研究  

Trajectory planning of serial robotic manipulator based on SolidWorks-MATLAB-CoppeliaSim

作　　者：郭华伟 吴广磊 Guo Huawei;Wu Guanglei(School of Mechanical Engineering,Dalian University of Technology,Liaoning Dalian,116024,China)

机构地区：[1]大连理工大学机械工程学院,辽宁大连116024

出　　处：《机械设计与制造工程》2025年第4期93-98,共6页Machine Design and Manufacturing Engineering

摘　　要：以五轴串联机械臂为研究对象,采用MATLAB和CoppeliaSim相结合的联合仿真方法进行机械臂的轨迹生成和运动仿真。首先在MATLAB中通过机器人工具箱构建机械臂的运动学模型,通过SolidWorks创建机械臂的三维模型,并将建好的模型导入到CoppeliaSim中以搭建机械臂仿真环境;然后分别在MATLAB和CoppeliaSim中编写程序接口建立通信连接,并在CoppeliaSim中实现机械臂运动过程的可视化。仿真结果表明,该方法可实现动态可视化的机械臂轨迹规划仿真以及碰撞检测分析,并且生成的运动轨迹和机械臂关节运动参数平稳、准确、无干涉,可用于实验以代替验证数值法轨迹规划结果。It presents a visualized trajectory planning method for the trajectory generation and motion simulation of serial robotic manipulator.By means of MATLAB-CoppeliaSim,it studies a five-axis robot.The kinematic model of the robot is firstly built with MATLAB toolbox,and the CAD model is constructed with the SolidWorks and is imported into the CoppeliaSim environment.The interface code is compiled with MATLAB and CoppeliaSim separately to build the communications between these two software,wherein the visualized movements of the robot is realized.The simulation results show that the visualization of the dynamic trajectory planning of the robot can be realized with the proposed method,in which the tracked trajectory of the robot end-effector and motion parameters of the robot joints are smooth and appropriate.This means that the proposed method can be applicable to the verification of the numerical trajectory planning.

关 键 词：工业机械臂 MATLAB-CoppeliaSim联合仿真 运动仿真 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]