基于Matlab的四工位制壳机械手运动学分析与仿真

Kinematic Analysis and Simulation of Four-Stations Shell-Making Manipulator Based on Matlab

针对四工位制壳机械手结构设计,通过D-H方法建立了机械手运动学方程,进行正、逆向运动学分析。同时,运用Matlab的Robotics Toolbox建立机械手仿真模型,并对正、逆运动学分析结果进行了仿真。结果表明,通过机器人工具箱对该机械手进行轨迹规划仿真,可以得出机械手各关节位移、速度和加速度曲线,从而验证机械手结构参数的合理性,为后期动力学分析和控制研究提供了理论分析的依据。

According to the structure design of four-station shell-making manipulator, the kinematics equation of the manipulator by D-H method was established, and its forward and inverse kinematics were analyzed. At the same time, the simulation model of the manipulator was established by Matlab Robotics Toolbox. The results show that the trajectory planning simulation of the manipulator is carried out through the robot toolbox. The displacement, velocity and acceleration curves of each joint of the manipulator can be obtained. So as to verify the rationality of structural parameters of manipulator, it provides a theoretical basis for later dynamic analysis and control research.