基于SimMechanics的六轴机械臂仿真分析

Simulation Analysis of Six-axis Manipulator Based on Sim Mechanics

基于库卡6R机械臂的结构特点,利用Sim Mechanics工具箱对机械臂建立正逆运动学仿真模型,末端添加执行器,使模型与实体的结构保持一致。仿真结果表明利用仿真模型能快速、准确地得到机械臂各关节的角度函数,并可在Figure窗口可以实时观察末端执行器的轨迹,其轨迹变化趋势与实际数学函数相符,验证了模块化建模的合理性和实用性,为6R机械臂后续研究提供了理论依据和仿真模型。

Based on the structural characteristics of the KUKA 6 R manipulator,simulation model of the manipulatoris established by using the SimMechanicstoolbox.In order to keep the model consistent with the solid,actuator are added at the end of the manipulator.The simulation results show that the angle function of each joint of the robot arm can be obtained quickly and accurately by using the simulation model,and the trajectory of the end effector can be observed in real time in the Figure window.The trajectory change trend of the end effector of the robot arm is consistent with the actual mathematical function,which verifies the rationality and practicability of modular modeling,and provides a theoretical basis and simulation model for the subsequent research of the 6 R robot arm.