大学学位论文6dof机械手的抓取动作设计.doc

自动化学院本科毕业论文 （2015届） 题 目 6-DOF机械手的抓取动作设计 学 院 自动化 专 业 自动化 摘要 本文以具有六自由度的PowerCube机械臂作为研究对象了简单。 此基础上，可以工业上的、喷漆等。从机器人运动学，正运动学分析建立了PowerCube机械臂Denavit-Hartenberg(D-H)模型，推导出了此机械臂的正运动学方程，并以此为基础一个特例分析了机械臂的Matlab的Robotics Toolbox工具箱，机械臂的构建、正运动学分析进行了仿真验证。机械臂运动的平稳性研究机械臂的轨迹规划讨论了关节空间的轨迹规划和笛卡尔空间的轨迹规划规划方法并较为详细了介绍了关节空间的轨迹规划的三次多项式五次多项式轨迹规划方法运动学分析和轨迹为基础，对此机械臂设计了切割动作。从零位姿运动到切割起点，再从切割起点运动到切割终点最后归位完成这一项切割任务。 PowerCube机械臂；运动学分析规划；动作设计 ABSTRACT this thesis, simple cutting motion is designed based on the series of six degrees of freedom PowerCube manipulator. Base on this design, we can also design industrial cutting, painting motion or other mandate. As the first step in studying kinematics. The Denavit-Hartenberg(D-H) model of PowerCube manipulaor is present throuth the analysis of forward kinematics. What’s more, derived this manipulaor forward kinematic matrix equation. And based of D-H model and forward kinematics, analizing inverse kinematic in a special case. The building of manipulator’s model and the analyses of kinematics are simulated by using the Robotics Toolbox of Matlab. To keep the balance of manipulator’s movement, reserching on the trajectory control problems. This tbesis talks about two method of trajectory, based on joint space and Cartesian space respectively. The?cubic and five times polynomial?interpolation about joint space are introduced in detail. Cutting motion are designed due to the tanalyses of kinematics and trajectory planning. Finally, from zero position to the cutting position, and then, from the cutting positiong to the ending position, return to the start at the end and finish this cutting work. Keywords: PowerCube manipulator, kinematics, trajectory planning, motion design 目录 摘要 1 ABSTRACT 3 1.绪论 1 1.1 机械臂概述 1 1.2 课题的背景及意义 2 1.2.1 课题背景 2 1.2.2 课题研究意义 3 1.3 机械臂的发展情况 3 1.4 机械臂的发展趋势 4 1.5 本论文主要内容 5 2. 六自由度机械臂建模 6 2.1 空间描述和坐标变换 6 2.1.1 空间描述 6 2.1.2 坐标变换 7 2.2 六自由度机械臂的建模与正运动学分析 9 2.2.1 机器人正运动学方程的D-H表示 9 2.2.2 机械臂正运动学模型 11 2.3 逆运动学分析 14 2.3.1 逆