3月 第 45卷 第 5期 机床与液压 MACHINE T0OL＆ HYDRAULICS Mar． Vo1．45 No．5 DOI：10．3969／j．issn．1001—3881．．05．009 基于 MATLAB的码垛机械手运动学分析与仿真 黄旭楠 ，岳夏 ，冼颂智 (广州大学机械与电气工程学院，广东广州510006) 摘要：对一种五 自由度码垛机械手建模，采用改进版 D—H法建立起机械手的7个连杆坐标系，通过坐标变换推导出机 械手末端工具坐标系相对基座的位姿，由关节变量分离法求得逆运动学问题中 5个关节角的解析式，最后使用 Robotics Toolbox提供的函数在 MATLAB环境下建立起机械手运动学仿真模型并进行实例仿真，指出常规的逆解验证过程存在的不 足进而提出采用相应的补充验证手段的观点，验证了正 、逆运动学求解的正确性，为后续分析、控制与优化提供运动学 参考。 关键词：机械手；五 自由度；运动学；MATLAB 中图分类号：TP241；TH113 文献标志码：A 文章编号：1001-3881()05—035—5 Kinematics Analysis and Simulation of a Palletizing M anipulator Based on m TLAB HUANG Xunan．YUE Xia． XIAN Songzhi (College of Mechanical and Electronic Engineering，Guangzhou University， Guangzhou Guangdong 5 10006，China) Abstract：The model was established for a palletizing manipulator with five de~ee of freedom (5-DOF)，and modified form of Denavit—Hartenberg(D-H)convention was applied to establish coordinate in attaching seven link frames to the manipulator．Then，the link coordinate tran sformations were used together to find the pose of tool coordinate of the manipulator end related to the base lrame．By using the separating link variables algorithm to work out the inverse kinematics，analytic expressions of five joint angles were obtained． Finally，the functions provided by Robotics Toolbox were used to modeling and case simulation of kinematics of the manipulator under the environment of MATLAB．Th e deficiencies of conventional verification process of the inverse kinematics and correspondingly us
