基于SolidWorks六自由度机械臂的逆解求解与仿真

借助SolidWorks完善的二次开发功能,结合六自由度机械手臂的运动学逆解求解的理论研究,开发一种适用于大多数六自由度的机械手臂的逆解求解和运动仿真软件。首先运用基于三轴相交于一点的Pieper's solution解法来对机械手臂的运动学逆解进行求解,对于求解需要的矩阵则通过SolidWorks API中的矩阵相关函数来获取、计算;然后将求得的结果赋值给机械手臂模型中对应的角度来完成验证,对于一条连续的路径,则通过对路径上的每一点的计算、赋值,来验证规划所求得的路径的合理性。

Inverse Solution and Simulation of 6-DOF Manipulator Based on SolidWorks

With the help of the traditional three-dimensional modeling software,using its perfect secondary development function combined with theoretical research for solving inverse kinematics of six-degrees-of-freedom mechanical arm,a software that can be applied to most of the 6-DOF mechanical arm for inverse solution and movement simulation is developed.First,use Pieper's solution method based on three axis to the intersection point to solve the kinematics inverse solution of mechanical arm,obtain the matrix needed for solving through the matrix correlation function in SolidWorks API;then assign the obtained results to the corresponding angles in the mechanical arm to complete the verification.For a continuous path,verify the rationality of the path planning by calculating and assigning values to each point on the path.