基于闭环矢量法的五杆合作机器人运动学建模及仿真

Kinematics Modeling and Simulation of a Five-Bar Cobot by Using Closed Loop Vector Method

利用闭环矢量法对五杆机构进行正运动学建模,给出了五杆并联机器人的闭环矢量方程,推导了其运动学方程,并用MAT-LAB软件编写MATLAB函数来求解运动学方程。利用Simulink仿真工具建立了五杆合作机器人的运动学仿真模型,仿真分析得到了运动学仿真曲线。研究过程表明,采用闭环矢量法对五杆并联机器人进行运动学分析既简便又快捷。这种方法对其他复杂平面并联机构的运动学分析具有一定的参考价值。

The closed loop vector method is used to derive the kinematic equations of a five - bar cobot. The MATLAB functions for computing the kinematic equations are also established. The study shows that it is simple and shortcut for applying closed loop vector method to analyze kinematics of the five-bar parallel cobot.