连杆式串联机械手结构及运动学研究

摘要

文章基于通用机械手在简单工况中使用的问题提出了一种连杆式串联机械手结构并进行了研究分析.首先对研究对象的结构进行了参数设计,然后详细分析了该机械手的运动学问题,基于D-H参数建模法确定了各关节坐标系及参数表,对其正、逆解进行了求解运算,最后使用Robotics Toolbox建立了相应的运动学模型,对其正、逆解和运动轨迹进行了验证和仿真.研究结果表明了该机械手的运行表现平滑稳定,且结构简单,成本较低,非常适合应用于简单自动化工况.%A kind of multi-link series manipulator is proposed and researched based on the use situation of general-purpose manipulator.First Its parameters was designed according to structure,and finded out its oper-ation mode,analyzed the kinematics of the manipulator in detail,coordinate an parameters were determined based on the D-H parametric modeling method,and the solution of arm kinematrc and inverse kinematrics was solved. Finally the corresponding kinematrics model was established by the Robotics Toolbox,the arm kinematrc,inverse kinematrics and trajectory were verified and simulated.The results show that the manipu-lator is well designed to achieve the intended target and can be used for simple automation conditions.