三自由度机械手运动学的研究

Research of Imaging System Based on STM MCU

机械手的运动学分析是研究的热门话题,通过获得机械手末端装置在空间中的姿态与位置的方法,对于机械手的设计和控制极为重要。本文通过建立一种简易设计机械手的三维模型,简单介绍了D-H方法并对该法进行了简便运算方法的分析,再结合要设计的机械手模型确定了D-H参数后,通过对机械手关节处的特征矩阵进行求解机械手运动学的正解运算,最终得到了机械手末端的姿态,并结合实际情况对末端运动坐标进行了验证。经验证,所确定的运动函数完全符合设计的需求,对现实中机械手的生产、控制、研发等提供了可靠的理论依据。

Manipulator kinematics analysis is the hot topic in the research.It is of extreme importance to design and control of the manipulator through this access to get the end of the manipulator the position and posture in the space.In this paper, through the establishment of a simple 3D model design, the D-H methods were simply introduced ,combining D-H parameters model, solving the manipulator kinematics positive solution, finally gets the end of the manipulator,s posture, and connecting with the actual situation of terminal motion coordinates . Determine the movement function completely accords with the demand of this design.Provides the reliable theory basis for the production, the control of the kinematics.