安徽理工大学学报（自然科学版）
安徽理工大學學報（自然科學版）
안휘리공대학학보（자연과학판）
JOURNAL OF ANHUI UNIVERSITY OF SCIENCE AND TECHNOLOGY(NATURAL SCIENCE)
2013年
2期
34-38
,共5页
机械臂%正运动学%仿真平台%归一化
機械臂%正運動學%倣真平檯%歸一化
궤계비%정운동학%방진평태%귀일화
manipulator%forward kinematics%simulation platform%normalization
针对川崎工业机器人手臂FS03N构型特点，采用DH法建立了机械臂的连杆坐标系，得到了以关节角度为变量的正运动学方程，采用SolidWorks 建立了机械臂的三维实体模型。为了验证正运学模型的正确性及直观地观察机械臂各部分的运动情况，编写相应接口程序，将机械臂实体模型导入Matlab，融入正运动学算法，开发了机械臂运动仿真平台，从而验证了算法的正确性，并完成了机械臂的运动仿真。
針對川崎工業機器人手臂FS03N構型特點，採用DH法建立瞭機械臂的連桿坐標繫，得到瞭以關節角度為變量的正運動學方程，採用SolidWorks 建立瞭機械臂的三維實體模型。為瞭驗證正運學模型的正確性及直觀地觀察機械臂各部分的運動情況，編寫相應接口程序，將機械臂實體模型導入Matlab，融入正運動學算法，開髮瞭機械臂運動倣真平檯，從而驗證瞭算法的正確性，併完成瞭機械臂的運動倣真。
침대천기공업궤기인수비FS03N구형특점，채용DH법건립료궤계비적련간좌표계，득도료이관절각도위변량적정운동학방정，채용SolidWorks 건립료궤계비적삼유실체모형。위료험증정운학모형적정학성급직관지관찰궤계비각부분적운동정황，편사상응접구정서，장궤계비실체모형도입Matlab，융입정운동학산법，개발료궤계비운동방진평태，종이험증료산법적정학성，병완성료궤계비적운동방진。
Considering the configuration characteristics of Kawasaki industrial manipulator FS 03N, DH method was used to establish connecting link coordinate system , obtaining forward kinematics equations with joint angle variables.A 3D physical model was built with SolidWorks .In order to verify the correctness of the forward kine-matics and visualize the manipulator movement , the interface programme was performed and the manipulator 3D physical model was imported into Matlab , combining with forward kinematics algorithm , the simulation platform of manipulator was developed.The correctness of the algorithm was verified and the manipulator movement simu-lation was completed based on the platform .
