五自由度机械臂三维建模与仿真实验平台的构建

摘要

The positive kinematics analysis and the inverse kinematics solution are conducted for the 5-DOF (degrees-of-freedom)mechanical arm by using the Z-Y-Z Euler rotation method,which can control the movement of the mechanical arm in the joint space and Cartesian space.In order to easily verify the results of kinematics analysis and avoid sending improper instructions to the actual mechanical arm,the Qt Widgets is used as the development framework to construct the 3D simulation experimental platform for the 5-DOF mechanical arm by using the OpenGL graphics programming interface.This system can reflect the real movement of the mechanical arm well,and perform the target-snatching task in real time,which plays a promoting role in the research and teaching of the kinematics of the mechanical arm.%利用Z-Y-Z欧拉旋转法对五自由度机械臂进行了正运动学分析和逆运动学的求解,以控制机械臂在关节空间和笛卡尔空间中的运动.为能够简便地验证运动学分析的结果和避免给实体机械臂发送不恰当的指令,以Qt Widgets为开发框架,利用OpenGL图形程序接口建立了五自由度机械臂三维仿真实验平台.该系统能较好地反映机械臂的运动,实时执行目标抓取,对机械臂运动学的研究和教学起到了促进作用.