基于D-H算法的四轴焊缝跟踪机械臂的设计及应用

Design and application of a four axis weld seam tracking robotic arm based on D-H algorithm

开展运动学及动力学分析是研究机械臂的基础,D-H参数法是广泛应用的分析方法之一,通过仿真可以模拟机械臂的运动情况和动态性能,并验证模型的可行性。文章利用D-H参数法建立了机械臂的运动模型,并用MATLAB机器人工具包分析了该机械臂的正逆运动学特性,通过运动学轨迹仿真研究,验证了该运动模型的可行性。

The kinematics and dynamics analysis is the basis for studying the robot arm.The D-H parameter method is one of the widely used analysis methods.By simulation,the motion and dynamic performance of the robot arm could be simulated,and the feasibility of the model could be verified also.In this paper,a motion model of the robot arm is established by the D-H parameter method,and the forward and inverse kinematics characteristics of the robot arm are analyzed by the MATLAB Robotic Toolbox.The feasibility of the model is further verified through kinematics trajectory simulation.