基于Matlab的拉伸机上下料机械手运动学仿真分析
Kinematics Analysis and Simulation of Placing and Removing Manipulator of Stretcher Based on Matlab
赵锦荣 1丁维亚 1盛小明1
作者信息
- 1. 苏州大学机电工程学院,江苏苏州215021
- 折叠
摘要
运用D-H方法建立了拉伸机上下料机械手的运动学模型,运用Matlab的Robotics Toolbox对机械手进行运动学仿真,得出机械手末端执行器运动轨迹曲线、关节运动曲线和速度曲线,从而验证机械手结构参数设计的合理性,也为机械手的控制系统设计和动力学、轨迹规划等研究提供了理论分析的依据。
Abstract
Established the kinematics model of placing and removing manipulator by D-H coordination system.The kinematics model of manipulator was simulated with the Robotics Toolbox of Matlab.Trajectory curve of the end actuators of manipulator,motions and speed curve of joint were obtained.The simulation proved that all the structure parameters are rational also it is beneficial to the research of the design of manipulator control system,dynamics and trajectory planning.
关键词
机械手/运动学/D-H法/Matlab/仿真Key words
manipulator/kinematics/D-H method/Matlab/simulation引用本文复制引用
出版年
2012
NETL
NSTL
维普
万方数据