一种5自由度机械手的运动学分析
2020-10-23
作者：周睿1，李淑颖1，2，汪义博1，王长磊1，牟伦锐1
单位：1山东大学；2山东大学机械基础实验教学示范中心
摘要：针对一种工业码垛5自由度机械手进行运动学分析，利用标准DH参数法建立其参数和正运动学模型，并求解机械手的逆运动学解析解。基于MATLAB Robotics Toolbox建立机械手的仿真模型，验证了机械手正逆运动学求解的可行性。结合MATLAB的数据处理功能和GUI的图形界面，建立强大的可编辑可视化仿真平台，通过串口通讯控制单片机实现对实体机械手的运动控制，实验验证了正逆解求解的正确性。
关键词：机械手；正运动学；逆运动学；Robotic System Toolbox；GUI
中图分类号：TG115.5；TH161.3文献标志码：ADOI：10.3969/j.issn.1000-7008.2020.08.011
Kinematics Analysis of 5DOF Manipulator
Zhou Rui，Li Shuying，Wang Yibo，Wang Changlei，Mou Lunrui
Abstract:The kinematics analysis is carried out for a kind of industrial plletizing 5DOF manipulator，its parameters and positive kinematics model are established by using the standard DH parameter method，and the inverse kinematics analytical solution of the manipulator is solved.Based on the MATLAB Robotics Toolbox，a simulation model of the manipulator is established，which verifies the feasibility of solving the positive and inverse kinematics of the manipulator.With the combination of the data processing function of MATLAB and the graphical interface of GUI，a powerful editable visual simulation platform is established，and the motion control of the solidmanipulator is realized by serial communication，the correctness of the positive and inverse solution is verified by experiments.
Keywords:manipulator；positive kinematics；inverse kinematics；Robotic System Toolbox；GUI