【摘要】 对搬运机器人的运动进行研究,采用D-H法建立机器人运动学方程,对运动学的正问题和逆问题进行求解。在Matlab环境下建立机器人的运动学模型,利用RoboticsToolbox模块进行运动仿真。结果表明:通过模拟机器人的动态特性,得到机器人运动的位移、速度、加速度曲线,验证设计的正确性。更多还原

【Abstract】 For the purpose of doing kinematic research on transfer robot,Denavit-Hartenberg notation was applied in establishing kinematical equation,the robot’s forward kinematics and inverser kinematics were solved.Based on Matlab,the robot kinematics model was set up,using the Robotics Toolbox,the motion simulation was carried out.The results show that:the dynamics of the robot can be simulated to obtain the displacement,velocity,acceleration curve.The correctness of the design can be validated.更多还原