打磨机操作臂运动学仿真研究

Study on Kinematics Simulation of Barinder′s Arms Motion

采用D-H方法建立打磨机操作臂的运动学方程,并讨论该操作臂的运动学问题。首次将MATLAB中的Robotics Toolbox命令与编写的MATLAB程序相结合应用于新型打磨机操作臂正运动学、逆运动学仿真,并对正、逆运动学以及空间轨迹进行了实例仿真。通过仿真观察到操作臂各个关节的运动并得到了所需的数据,说明操作臂建模以及所设计参数的合理性和运动算法的正确性,为打磨机的动力学、控制和规划的研究提供了可靠的参数。

The problem of kinematics of Polishing manipulator was discussed based on the kinematics equation, which was built by D-H coordination system. The manipulator modeling and the forward, inverse kinematics were firstly simulated with the combination of Robotics Toolbox and MATLAB processes,the forward,inverse kinematics and space trail was simulated by a real example. Based on the simulation,we observe the motion of the manipulator＇s joints and obtain the data that we need,which proves that all the parameters of Polishing manipulator and kinematics arithmetic we design are reasonable right. The data also is beneficial to research of Polishing manipulator dynamics, control and planning.