Kinematics Analysis of a 6-DOF Collapsible Manipulator

Li Hui; Zheng Xiangzhou; Yuan Yanfang; Yu Jingjing

doi:10.16578/j.issn.1004.2539.2015.12.017

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Kinematics Analysis of a 6-DOF Collapsible Manipulator

更新时间：2022-10-20

- Kinematics Analysis of a 6-DOF Collapsible Manipulator
- Vol. 39, Issue 12, Pages: 79-82(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.1004.2539.2015.12.017
  CLC：
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[1]李慧,郑相周,原艳芳,余晶晶.一种六自由度可折叠机械手的运动学分析[J].机械传动,2015,39(12):79-82.

Li Hui, Zheng Xiangzhou, Yuan Yanfang, et al. Kinematics Analysis of a 6-DOF Collapsible Manipulator. [J]. 39(12):79-82(2015)
[1]李慧,郑相周,原艳芳,余晶晶.一种六自由度可折叠机械手的运动学分析[J].机械传动,2015,39(12):79-82. DOI： 10.16578/j.issn.1004.2539.2015.12.017.

Li Hui, Zheng Xiangzhou, Yuan Yanfang, et al. Kinematics Analysis of a 6-DOF Collapsible Manipulator. [J]. 39(12):79-82(2015) DOI： 10.16578/j.issn.1004.2539.2015.12.017.

摘要

由于机械手的广泛运用,使得劳动生产率有很大幅度的提高,同时改善了工作环境。机械手的运动学分析是实现机械手准确运动控制的基础。本文中我们对一种6-DOF可折叠机械手进行了运动学研究[1],根据机械手几何特点得到了六自由度机械手的运动学正逆解,在关节角度变化范围内进行了详细讨论,并使用MATLAB进行了运动学仿真验证。

Abstract

Because of the widely applications of robots,the labor productivity is greatly enhanced and the working environment is improved. The kinematics analysis of manipulator is a basis for achieving accurate motion control. The kinematics of a kind of 6- DOF collapsible manipulator is studied,the forward and inverse kinematics within the scope of joint angles is obtained according to the geometric characteristics of robot,by using the MATLAB,the verification of kinematics simulation is carried out.

关键词

机械手逆运动学Matlab

Keywords

ManipulatorInverse kinematicsMatlab

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