摘要
以一种教学五自由度机器人为研究对象,对其进行了运动学分析和工作空间仿真。采用D-H方法推算出运动学方程的变换矩阵,得到运动学正解及利用反变换法获得运动学逆解;根据矢量积方法给出了机器人的速度雅可比矩阵。最后利用包络法分组解法求解了该机器人实际工作空间曲面,为该教学机器人的结构优化、动力学分析和运动控制提供了依据。
It investigates a kind of 5-DOF teaching robot,carries out its kinematics analysis and working space analysis. Based on the coordinate transformation matrix established with D-H method it realizes the forward kinematics solution,and obtains the inverse kinematics solution with inverse transformation method,the velocity using vector product method. It constructs Jacobian matrix and works out the teaching robot＇s working space and simulation. These results are used for providing a basis for the structural optimization and dynamics analysis as well as the motion control.
