摘要
五自由度工业机械手可应用于搬运、码垛作业时对目标物体的抓取。以该五自由度工业机械手为研究对象,用常规的D-H法建立运动学数学模型,进行正、逆向运动学分析,然后,利用代数法依次求解出正、逆运动学方程,分别得出了操作臂末端在基坐标系下的位置关系式和各关节的参数变量,最后,用MATLAB软件对正运动学分析结果进行了仿真。
The involved five-DOF industrial manipulator can be applied to grab the target object in handling and palletizing homework. Firstly,taking the five-DOF industrial manipulator as a research object, using traditional D-H method, the kinematics mathematic model is established and its forward and inverse kinematics are analyzed. Then algebraic method is used to solve the forward and inverse kinematic equation, and the kinematics equation describes the end of manipulator in the basis coordinate and the parametric variation for each joint are given respectively. Important basis are provided by the completion of kinematics analysis for the manipulator arm for controlling system programming of manipulator and the stable grab research of target object. At last, its result simulation for forward kinematics is made by MATLAB software.
出处
《机械研究与应用》
2011年第4期12-14,共3页
Mechanical Research & Application
