1、 自动化学院本科毕业论文自动化学院本科毕业论文 （2012015 5 届）届） 题题 目目 6-DOF 机械手的抓取动作设计 学学 院院 自动化 专专 业业 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，设计了简单的切割动作。 在此基础上，可以设计适用于工业上的切割、喷漆等动作任务。从机器人运动学着手， 通过正运动学分析建立了 PowerCube 机械臂的 Denavit-Hartenberg(D-H)模型，推导出 了此机械臂的正运动学方程，并以此为基础由一个特例分析了此机械臂的逆运动学。利 用 Matlab 的 Robotics Toolbox 工具箱，对机械臂
2、的模型构建、正逆运动学分析进行了 仿真验证。为了保证机械臂运动的平稳性，研究了机械臂的轨迹规划。讨论了关节空间 的轨迹规划和笛卡尔空间的轨迹规划两种轨迹规划方法，并较为详细了介绍了关节空间 的轨迹规划中的三次多项式和五次多项式轨迹规划方法。以运动学分析和轨迹规划为基 础，对此机械臂设计了切割动作。从初始零位姿运动到切割起点，再从切割起点运动到 达切割终点，最后归位完成这一项切割任务。 关键词: PowerCube 机械臂；运动学分析；轨迹规划；动作设计 ABSTRACT In this thesis, simple cutting motion is designed based on the
3、 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 kinema
4、tics. Whats 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 manipulators model and the analyses of kinematics are simulated by using the Robotics Toolbox of Matlab. To keep
5、the balance of manipulators 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 a
6、re 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 . 2 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
