现代制造工程Issue(11)：60-63,4.
六自由度机器人设计分析与实现
Analysis and implementation of 6-DOF robot’ s design
宫赤坤 1余国鹰 1熊吉光 1黄成林1
作者信息
- 1. 上海理工大学机械工程学院，上海200093
- 折叠
摘要
Abstract
The kinematics analysis was conducted,coordinate transformation matrix using D-H method was set up,and the kine-matics equation direct solution and inverse solution was deduced,and makes 6-DOF robot trajectory planning according to the in-verse solution and movement processing.According to the results of planning trajectory which is acquired from calculation of MATLAB,the robot arm’s kinematics was simulated by using software ADAMS,and the simulation result was analyzed,and the ex-perimental data can provide a theoretical basis for the research of the actual robot movement process and structural optimization.关键词
六自由度机器人/D-H坐标/运动学/仿真Key words
6-DOF robot/D-H coordinates/kinematics/simulation分类
信息技术与安全科学引用本文复制引用
宫赤坤,余国鹰,熊吉光,黄成林..六自由度机器人设计分析与实现[J].现代制造工程,2014,(11):60-63,4.
