Simulation and Research of the Space 5-DOF Manipulator Kinematics and Dynamics

摘要

Kinematics and dynamics calculation is meaningful both in the design stage and the movement control stage of a manipulator. After the comparison among different methods of manipulator kinematics and dynamics, this paper adopts homogeneous coordinate transformation to analyze and research positive solutions of the space 5-DOF manipulator kinematics, applies mathematics in the approximate calculation to solve the equations' inverse problems because of the explicit difficult nature to derive analytic solution; conducts dynamics analysis to the manipulator and adopts the Lagrange dynamics method to establish an ideal model, i.e., a dynamics model integrating with corresponding computer algorithm without considering the influences of friction force, to complete the research on the simulation calculation of dynamics inverse solution.