【摘要】 为了解决金属产品在冶炼生产过程产生的浮渣问题，提高捞取锌渣的效率，设计了一种串联式捞渣机械臂,建立了机器人运动学模型，对其进行了正逆解分析。通过ADAMS软件仿真得到机器人末端执行器的位移、速度、加速度随时间变化的曲线图，由仿真结果可知，运行过程中没有发生较大的冲击，运行相对平稳，可以满足实际工作中的任务要求。更多还原

【Abstract】 In order to solve the scum problem of metal products in the smelting production process and improve the efficiency of zinc slag fishing, this paper designs a series type slag catching manipulator. The kinematics model of the robot is established, and the forward and inverse solutions are analyzed. The displacement, velocity and acceleration of the end effector of the robot are simulated by ADAMS software. The simulation results show that there is no big impact in the running process, and the operation is relatively stable, which can meet the requirements of the actual work.更多还原