四自由度模块化机械臂运动学建模

Kinematics model for 4 degrees of freedom modular manipulator

首先根据四自由度(MT-R)模块化机械臂的结构特点和运动学约束,利用D-H算法对机械臂进行表示和建模,得到了以关节角度为变量的正运动学模型。利用矩阵逆乘的解析法求解机械臂逆运动学的完整解析解;最后通过仿真和实验验证了正运动学模型及运动学逆解的正确性。验证结果为机械臂末端执行器的精确定位和轨迹规划提供了理论依据。

In this paper,according to the structural characteristic and the kinematic constraint,the 4 degrees of freedom（MT-R） modular manipulator was analyzed to express and model by using D-H algorithm.And the forward kinematics model with angle variables was acquired.Second,the complete analytical solution of the inverse kinematics can be acquired by using inverse matrix analytical method.Finally,the simulation and experiment results verified the correctness of the forward kinematics model and the inverse kinematics solution.The result can be further used for manipulator end accurate positioning and trajectory planning.