五自由度小型示教机械臂设计

设计了一种五自由度的机械臂,为了解决运动学分析结果不易验证以及在实际本体上实验成本较高的问题,制作了一套简易五自由度小型示教机械臂模型。通过D-H法对机械臂运动学进行分析,然后在MATLAB上执行运动学仿真,运用蒙特卡罗法对示教机械臂的工作空间进行求解,仿真结果验证了预期设计目标。此外,对机械臂轨迹规划、运动仿真进行实验验证,实际结果与运动学分析的结果保持一致。

Design of Small Teaching Robot Arm with Five Degrees of Freedom

In order to solve the problem that the results of kinematics analysis are not easy to verify and the test cost is high on the real body, a simple five degrees of freedom(5-DoF) small model for teaching the robot arm is developed. The kinematics of the robot arm were analyzed by the D-H method, and then the kinematics simulation was carried out using MATLAB. Based on the Monte Carlo method, the working space of the robot arm was solved. Finally, the simulation results verified the expected design goals. In addition, physical experiments are carried out on the trajectory planning and motion simulation of the robot arm. The actual results also verify the consistency of kinematics analysis.