四自由度机械臂运动学分析及Matlab仿真

针对开发的两轴平行两轴耦合特点的四自由度机械臂UsstRobot提出一种改进的代数解法,采用Denavit-Hartenberg方法建立以关节角为变量的机械臂运动学模型,运用矩阵逆乘的方法分离变量,求得了运动学正解和逆解;采用三次多项式插值的方法对机械臂轨进行规划,将运动学解导入Matlab Robotics Tool仿真,得到各关节角度及速度,加速度与时间关系曲线。运动学解及仿真结果在机械臂实际运动中得到了验证。

Simulating Kinematics of 4-DOF Manipulator

An improved algebraic solution is developed to deal with the 4-degree of freedom manipulator USSTROBORT which has two coupled axes and two parallel axes.In the basis of considering manipulator constraints,the kinematical model is built in the basis of joint variables by the method of Denavit-Hartenberg,than the forward kinematics and inverse kinematics solution is obtained by the variables separation method in the way of matrix inverse multiplier.Trajectory planning is based on the cubic polynomial method,using the Matlab Robotics Tool to simulate the robotic arm,which validates that the kinematical model is correct.The curves of angle vs.time and velocity vs.time,acceleration vs.time of each joint are obtained.The actual movement validates the simulation result and kinematical solution.The kinematical model provides a basis for the design of the controller of USSTROBOT.