Research on Arm Shape of Manipulator Based on Trajectory and End Posture

Abstract

In order to solve the problem of reasonable distribution of joint combination in the design process of manipulator. In the design of manipulator, the target trajectory of manipulator and the requirement of end attitude should be taken into account. By dividing the change of trajectory and terminal attitude according to the three components of X-Y-Z, the corresponding joint combination mode is given. The kinematics relation of the arm shape of the manipulator is established by using the D-H representation. The forward and inverse solutions are obtained by using the Robotics Toolbox in MATLAB, and the workspace is given. By checking whether there is a reasonable inverse solution to judge the appropriate joint combination mode, according to the change of the attitude at the end of the joint, it is increased according to the change of the posture at the end of the joint. Add the corresponding joint type to complete the target task. According to this method, the design idea of manipulator can be given clearly, which provides a reference for improving the rationality of manipulator joint combination.