七自由度冗余机械臂运动学和动力学分析及仿真

Kinematic and dynamics analysis and simulation of 7-DOF redundant manipulators

针对七自由度冗余机械臂的构型特点,采用改进D-H法建立其连杆坐标系并推导出正运动学方程,基于梯度投影法求解机械手臂的逆运动学问题,利用MATLAB机器人工具箱验证结果的正确性。在SolidWorks中建立机械臂的三维模型,基于拉格朗日方法对该机械臂进行动力学理论建模并利用ADAMS进行动力学分析仿真。结果验证了机械臂运动学与动力学模型的可靠性,为后续控制研究、动态分析与运动优化等问题提供了可靠的试验基础。

According to the configuration characteristics of the 7-DOF redundant manipulator,the modified D-H method was used to establish its linkage coordinate system and derive the forward kinematics equation.The inverse kinematics of the manipulator was solved based on the gradient projection method,and the correctness of the results was verified by using the MATLAB robot toolbox;The three-dimensional model of the manipulator was established in SolidWorks.Based on the Lagrange method,the dynamics theory of the manipulator was modeled,and the dynamics analysis and simulation were carried out by using ADAMS.The results verified the reliability of the kinematics and dynamics model of the manipulator,and provided a reliable test basis for the follow-up control research,dynamic analysis and motion optimization.