| 一种机械臂运动学研究及3D 仿真平台构建 |
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| 引用本文： | 李宪华,;张雷刚,;张军,;于清波.一种机械臂运动学研究及3D 仿真平台构建[J].淮南工业学院学报,2014(3):39-44. |
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| 作者姓名： | 李宪华 ;张雷刚 ;张军 ;于清波 |
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| 作者单位： | [1]安徽理工大学机械工程学院,安徽淮南232001; [2]安徽理工大学材料科学与工程学院,安徽淮南232001 |
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| 基金项目： | 安徽省博士后基金资助项目（DG081）;上海市机械自动化及机器人重点实验室开放基金资助项目（ZKl304） |
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| 摘 要： | 针对川崎机械臂FS03 N的构型特点，提出了一种逆运动学的求解方法。采用DH法建立了机械臂的连杆坐标系，得到正运动学方程，通过变量分离将机械臂姿态采用欧拉角表示，得到了机械臂位姿的一组广义坐标。通过对FS03N的构型分析，采用几何法与反变换法相结合的方法，以解的组合关系为基础，得到了机械臂的8组封闭解。建立了基于Matlab的机械臂算法验证与3D仿真运动平台，验证了逆运动学解算的正确性，为机械臂的轨迹与路径规划提供了前提条件。
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| 关 键 词： | 机械臂 逆运动学 组合关系 封闭解 仿真验证 |
Research on Kinematics of an Industrial Manipulator and Its 3 D Simulation Platform Construction |
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| Affiliation: | LI Xian-hua, ZHANG Lei-gang, ZHANG Jun, YU Qing-bo ( 1. School of Mechanical Engineering, Anhui University of Science and Technology, Huainan Anhui 232001, China;2. School of Materials Science and Engineering, Anhui University of Science and Technology, Huainan Anhui 232001, China) |
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| Abstract: | According to the configuration characteristics of the industrial manipulator Kawasaki FS03N, an in-verse kinematics procedure was proposed.The DH method was employed to establish the coordinate system of connecting links.A group of completely generalized coordinates was obtained by variable separation of manipula-tor posture matrix using Euler angles.According to the relationship of solutions, 8 groups of closed-form solu-tion were obtained by using the method of combining geometric method and inverse transformation method through the analysis of FS03N configuration.The correctness of inverse kinematics algorithm was proved by the manipula-tor motion 3D simulation platform established based on Matlab, which provides the premise condition of trajectory and motion planning of manipulator . |
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| Keywords: | manipulator inverse kinematics combination relationship closed-form solution simulation experiment |
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