面向卫星装配的六自由度机械臂运动学分析及仿真

Kinematics Analysis and Simulation for Six Degree of Freedom Satellite Assembly Manipulator

针对六自由度机械臂逆运动学求解计算量较大、解算较为复杂的问题,以自主研发的六自由度机械臂为研究对象,提出一种逆运动学求解方法。根据机械臂的构型建立了正运动学模型,采用牛顿迭代法求解了机械臂逆运动学,基于MATLAB GUI构建了仿真实验平台,验证了所述方法的可行性和准确性。同时,仿真平台可实现机械臂D-H参数表、正逆运动学、机械臂圆弧及直线运动曲线可视化,为卫星装配高效作业规划及避障研究奠定了一定的理论基础。

In order to solve the problem of large amount of calculation and complex solution of 6-DOF manipulator,an inverse kinematics solution method was proposed based on the self-developed 6-DOF manipulator.According to the configuration of the manipulator,the forward kinematics model was established,the inverse kinematics of the manipulator was solved by Newton iteration method,and the simulation experiment platform was built based on MATLAB GUI,which verified the feasibility and accuracy of the proposed method.At the same time,the simulation platform can realize the visualization of D-H parameter table,forward and inverse kinematics,circular arc and linear motion curve of manipulator,which lays a theoretical foundation for efficient operation planning and obstacle avoidance research of satellite assembly.