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| 平面关节型机械手的运动学求解与仿真研究 |
| Kinematics Solution and Simulation Research of Planar Joint Manipulator |
| 投稿时间：2017-05-11 |
| DOI：10.16018/j.cnki.cn32-1650/n.201902009 |
| 中文关键词: 平面关节型机械手 机械结构 伺服电机 运动学方程 |
| 英文关键词: plane joint manipulator mechanical structure servo motor kinematics equation |
| 基金项目: |
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| 中文摘要: |
| 根据平面关节型机械手的结构特征，运用杆件坐标系建立平面关节型机械手的运动学模型；通过建立A矩阵和矩阵变换实现机械手的位置、速度正运动学和逆运动学求解；在正运动学和逆运动学的数学模型基础上，选择MATLAB机器人工具箱为软件平台，建立平面关节型机械手模型并进行仿真，获得关节扭矩和角速度曲线，为伺服电机的选择、控制系统的设计和研发提供参考和决策依据。 |
| 英文摘要: |
| According to the mechanical structure characteristics of the planar joint manipulator, the kinematics model of the planar joint manipulator is established by using the rod coordinate system. The position, velocity, forward kinematics and inverse kinematics of manipulator are solved by establishing A matrix and matrix transformation. On the basis of mathematical models of forward and inverse kinematics, MATLAB robot toolbox was selected as the software platform to establish the model of planar joint manipulator and carry out simulation, so as to obtain joint torque and angular velocity curves, providing reference and decision-making basis for the selection of servo motor, design and development of control system. |
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