板簧搬运机械手轨迹规划研究

Trajectory planning research of the leaf-spring carrying manipulator

根据五轴汽车板簧搬运机械手的系统组成,通过D-H参数建立了其运动学模型.在此基础上,采用五次多项式插值的关节空间规划法对机械手进行了轨迹规划.利用MATLAB软件的ROBOT工具箱建立了机械手三维模型,并通过仿真获得了五个关节的位移、速度、加速度等3个变量的平滑、连续曲线,为机械手的平稳、可靠运行提供了理论依据.

According to the system composition of the five-axis manipulator for carrying vehicles leaf spring,the kinematics model of the five-axis manipulator was established via D-H parameters.On this basis,the trajectory planning for manipulator was conducted by adopting.And the method of five times polynomial interpolation of the joint space the ROBOT toolbox of MATLAB software was used to set up 3D model of the manipulator,and the five joints＇ smooth and continuous simulation graphs of displacement,velocity,acceleration are obtained.