【摘要】 论文以5自由度码垛机械臂为例，通过标准D-H法，构建机械臂各关节坐标系，分析推导其运动学方程。利用Matlab中的机器人工具箱对其运动学方程进行验证，求解其工作空间，采用五次多项式对各关节进行轨迹规划。通过对机械臂的结构进行调试模拟，验证了其结构的合理性，连杆参数正确，各关节曲线光滑且连续，能够正确分拣和码垛快递，在运动过程中无冲击，明显抖动现象，能够应用于生产实践中。更多还原

【Abstract】 In this paper,taking the 5-DOF palletizing manipulator as an example,through the standard D-H method,the coordinate system of each joint of the manipulator is constructed,and its kinematic equations are analyzed and deduced. The robot toolbox in Matlab is used to verify its kinematic equations,its workspace is solved,and 5th-degree polynomials is used to plan the trajectory of each joint. By debugging and simulating the structure of the manipulator,the rationality of the structure is verified,the parameters of the connecting rod are correct,the curves of each joint are smooth and continuous,and the sorting and palletizing can be carried out correctly,it can be applied to production practice.更多还原