基于Robotics Toolbox的6 R型机械臂运动学仿真及分析

摘要

The kinematics of manipulator was studied aimed at 6R manipulator.Firstly,the joint coordinate sys-tem of manipulator was established using D-H method and the parameters of its links were determined,then the manipulator model was established by using Robotics Toolbox simulation Toolbox of MATLAB.Secondly,the trajectory planning and kinematics simulation of manipulator were studied.Lastly,the flexibility of the manipula-tor was analyzed by using manipulability index based on the kinematic model of manipulator.This article de-scribes the general laws of manipulator kinematic simulation,the results show that this study has important signi-ficance for simulation of an articulated manipulator.%针对6R型机械臂运动学进行了研究。首先采用D－H法建立机械臂关节坐标系并确定其连杆参数，应用MATLAB软件中的Robotics Toolbox仿真工具箱建立该机械臂模型，其次对机械臂进行轨迹规划研究和运动学仿真，最后，基于机械臂运动学模型应用可操作度指标分析机械臂的灵巧性能，本文阐述了机械臂运动学仿真的一般规律，由仿真得出的结果可知，本文的研究对于关节型机械臂的运动学仿真具有重要意义。