华中科技大学学报（自然科学版）Issue(z1)：19-22,4.DOI:10.13245/j.hust.15S1005
五自由度搬运机器人系统设计与运动学分析
System design and kinematics analysis of a 5-DOF handling robot
摘要
Abstract
A new 5 degree of freedom (DOF)handling robot for punching production line was de-signed.Firstly,the robot mechanical structure was designed considering requirements of the punching production line.Then the control system was built.Secondly,the forward kinematics model was ana-lyzed.The link coordinate system was established by the D-H method.The inverse kinematics was solved.Finally,workspace and movement precision was described.The workspace was projected to xy ,xz,yz three planes to get its specific parameters.Kinematics,workspace and movement preci-sion analysis are instructive to robot parameter design and trajectory planning.关键词
五自由度搬运机器人/运动学/工作空间/运动精度/分析Key words
5 degree of freedom (DOF)handling robot/kinematics/workspace/movement precision/analysis分类
信息技术与安全科学引用本文复制引用
丁磊,李恩,谭民,王逸洲..五自由度搬运机器人系统设计与运动学分析[J].华中科技大学学报（自然科学版）,2015,(z1):19-22,4.基金项目
国家高技术研究发展计划资助项目（2013AA041002）；国家自然科学基金资助项目（61403372）． （）
