分拣机械臂运动学分析与实验  

Kinematic Analysis and Experiment of Sorting Robotic Arm

作　　者：解南枫 李荣[1] 靳晓燕 黄庭友 张鹏[1] Xie Nanfeng;Li Rong;Jin Xiaoyan;Huang Tingyou;Zhang Peng(School of Automobile and Traffic Engineering,Heilongjiang Institute of Technology,Harbin 150050,China)

机构地区：[1]黑龙江工程学院汽车与交通工程学院,哈尔滨150050

出　　处：《煤矿机械》2025年第5期32-37,共6页Coal Mine Machinery

基　　金：黑龙江省“双一流”学科协同创新成果项目(LJGXCG2024-P16);黑龙江省重点研发计划指导类项目(GZ20210152);黑龙江工程学院省领军人才梯队培育计划项目(2020LJ04)。

摘　　要：以零差云控eRobot5_MA协作机械臂为研究对象,为确定其分拣工作空间和开发上位机控制软件,采用改进型D-H方法建立正运动学模型,并对其逆运动学进行求解。利用MATLAB中的Robotics Toolbox对机械臂进行建模仿真,并对正运动学和逆运动学算法进行验证,利用蒙特卡洛法进行机械臂工作空间模拟,仿真结果表明,所建立的运动学模型正确可靠。最后通过.net平台开发的Windows控制程序,开展运动学验证实验,进一步验证所建立的该机械臂运动学算法的正确性,为后续机械臂轨迹规划开发提供参考。Taking the zero difference cloud controlled eRobot5-MA collaborative robotic arm as the research object,in order to determine its sorting workspace and develop upper computer control software,an improved D-H method was used to establish a forward kinematic model,and its inverse kinematic was solved.Using the Robotics Toolbox in MATLAB to model and simulate the robotic arm,and verified the forward and inverse kinematic algorithms.Using Monte Carlo method to simulate the workspace of the robotic arm,the simulation results show that the established kinematic model is correct and reliable.Finally,a kinematic verification experiment was conducted using a Windows control program developed on the.net platform to further validate the correctness of the established kinematic algorithm for the robotic arm,which provides a reference for the subsequent development of robotic arm trajectory planning.

关 键 词：机械臂 改进型D-H法 运动学分析 MATLAB仿真 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]