Kinematics analysis and application of 5-DOF manipulator with special joint

摘要

An improved method based on the D-H method is proposed for a 5-DOF manipulator with special structure which is difficult to establish joint transformation by using normal D-H method. The forward kinematics of this manipulator with special structure is established by adding virtual joint. The method is suitable for manipulators with rotating joints, and the coordinate transformation must be achieved by transform along the Z axis. The process of inverse kinematics of the manipulator is analyzed. The conditions for the existence of inverse solution and the number of inverse solutions are also analyzed. Finally, the simulation of the proposed scheme is carried out to verify its correctness. And it has been applied to the physical mechanical arm.