五自由度特种机器人运动学分析研究

摘要

To analyze the kinematics of special robots, using Denavit-Hartenberg coordinates,establishment of five degrees of freedom rotary articulated robot kinematics model. By homogeneous transformation matrix of 4×4 describe the spatial relationship of two adjacent,thus,deduced "grasping coordinate" with respect to the "reference coordinate system,"the homogeneous transformation matrix,establish kinematics equations, find the positive solutions.And the use of Pual, who proposed the inverse transform method (algebraic method)) to obtain its inverse solutions of kinematics.%为分析特种机器人运动学特性，本文采用Denavit-Hartenberg坐标系，建立五自由度旋转关节型机器人运动学模型。通过4×4的齐次变换矩阵描述相邻两杆的空间关系，从而推导出“手抓坐标系”相对于“参考坐标系”的等价齐次变换矩阵，建立运动学方程，求出其正解，并采用Pual等人提出的反变换法（代数法）求出其运动学反解。