基于SimMechanics的六自由度机械臂仿真研究

摘要

Kinematic and dynamic analysis have a very important effect in the research of robot arm .In the past, the method used in the research of the robot arm were all need to build complex mathematical models and procedures , but SimMechanics has the func-tion of simple and quick access to get the model of dynamic system , and the system modeling is convenient intuitive , and the simulation function is powerful , the structure and the optimization of system parameters can be changed in the model , and to analyse the results in the simulation environment .By using above advantages of SimMechanics , taking the six degrees of freedom ( 6-DOF) industrial robot arm ER10 as the object of research , importing mechanical arm model of the ER 10 built in SolidWorks to MATLAB/SimMechanics sim-ulation platform , then the corresponding simulation model was gotten .In the platform of motion simulation , by adding position signals of the end of the mechanical arm and various signals of joints ( angular function , the torque value ) to the joints in the model , analysis of kinematics and dynamics of the robot arm is carried out fully .%运动学和动力学分析对机械臂的研究具有很重要的作用。以往对机械臂的研究方法均需要建立复杂的数学模型和程序，而SimMechanics具有简单、快捷获取动态系统的模型的功能，并且系统建模方便直观，仿真功能强大，可以在模型中通过改变结构，优化系统参数，在仿真环境中分析结果。利用SimMechanics的上述优点，以工业六自由度机械臂ER10为研究对象，将SolidWorks建立好的机械臂ER10模型导入到MATLAB／SimMechanics 仿真平台中，生成对应的仿真模型，并且在运动仿真平台中，通过在机械臂模型添加末端位姿信号和各个关节信号（角度函数，力矩值），全面地对机械臂进行运动学和动力学分析。