六自由度机器人设计分析与实现

摘要

The kinematics analysis was conducted,coordinate transformation matrix using D-H method was set up,and the kine-matics equation direct solution and inverse solution was deduced,and makes 6-DOF robot trajectory planning according to the in-verse solution and movement processing.According to the results of planning trajectory which is acquired from calculation of MATLAB,the robot arm’s kinematics was simulated by using software ADAMS,and the simulation result was analyzed,and the ex-perimental data can provide a theoretical basis for the research of the actual robot movement process and structural optimization.%对六自由度机器人进行运动学分析，用D-H方法获得了运动学正解、运动学逆解，为运动学轨迹规划打下基础。根据逆解和运动过程的要求，对六自由度机器人进行轨迹规划。将MATLAB软件中轨迹规划的结果在ADAMS软件中进行虚拟仿真，得到的实验数据为机器人运动过程的研究和结构优化提供理论依据。