四自由度机械臂的轨迹仿真研究

Research on Trajectory Simulation of Four Degree of Freedom Manipulator

为了研究四自由度机械臂的仿真轨迹,利用MATLAB建立笛卡尔坐标系,设置了四自由度机械臂的运动轨迹,利用五次差值多项式进行路径规划。将得到的仿真数据导出添加到动力学分析软件ADAMS中进行运动学分析,运动轨迹与设计基本一致,达到了预期效果,并得到每个轴所受力矩变量随着时间的变化规律,实验结果证明机械臂能够根据设定轨迹平稳地进行运动。

In order to study the simulation trajectory of the 4-DOF manipulator, the Cartesian coordinate system is established by MATLAB, the motion trajectory of the 4-DOF manipulator is set, and the path planning is carried out by using the quintic difference polynomial. The obtained simulation data are exported and added to the dynamic analysis software ADAMS for kinematic analysis. The motion trajectory is basically consistent with the design, and the expected effect is achieved. The variation law of torque variable of each axis with time is obtained. The experimental results show that the manipulator can move smoothly according to the set trajectory.