Kinematics Analysis of a 5-DOF Manipulator

Fu Guodong; Zheng Xiangzhou; Huang Si

doi:10.16578/j.issn.1004.2539.2015.09.037

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Kinematics Analysis of a 5-DOF Manipulator

更新时间：2022-10-20

- Kinematics Analysis of a 5-DOF Manipulator
- Vol. 39, Issue 9, Pages: 151-154(2015)
- 作者机构：
  
  1. 华中农业大学工学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2015.09.037
  CLC：
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[1]傅国栋,郑相周,黄思.一种5自由度机械手的运动学分析[J].机械传动,2015,39(09):151-154.

Fu Guodong, Zheng Xiangzhou, Huang Si. Kinematics Analysis of a 5-DOF Manipulator. [J]. 39(9):151-154(2015)
[1]傅国栋,郑相周,黄思.一种5自由度机械手的运动学分析[J].机械传动,2015,39(09):151-154. DOI： 10.16578/j.issn.1004.2539.2015.09.037.

Fu Guodong, Zheng Xiangzhou, Huang Si. Kinematics Analysis of a 5-DOF Manipulator. [J]. 39(9):151-154(2015) DOI： 10.16578/j.issn.1004.2539.2015.09.037.

摘要

针对所设计的W-5D型水下采样机械手,利用D-H法建立其参数和正运动学模型。由机械手的相邻3个关节轴线相互平行的结构特点,在常用的反变换法的基础上引入几何法,得到了逆运动学的封闭解,解的结构简明并且易于操作,满足了机械手对水下作业环境的逆解要求,为机械手的运动规划和轨迹控制提供了依据。使用MATLAB Robotics Toolbox建立机械手的仿真模型。工具箱内部提供的ikine函数已是获得工业机器人逆解的重要方法,通过与ikine函数所得结果的对比分析,验证所求得封闭解的可行性和优越性。

Abstract

Aiming at a designed W- 5D type underwater sampling manipulator,the parameters and forward kinematics model is established by using the D- H method. According to the structural characteristics of the adjacent 3 joints with parallel axes of the manipulator,by a geometrical method is introduced based on the method of separation of variables,the inverse kinematics closed solution is obtained,whose structure is concise and easy to operate,the requirement of manipulator in the operating environment of underwater is meet,and the basis for the manipulator motion planning and trajectory control is provided. The simulation model of the manipulator is established by MATLAB Robotics Toolbox. The toolbox ikine function is an important method to get the inverse solution of industrial robot,by comparing with the results from the ikine function the superiority and feasibility of the closed solution is verified.

关键词

机械手正运动学逆运动学MATLABRoboticsToolbox

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