The Mechanism Analysis and Trajectory Simulation of 5R Joint Manipulator

Abstract:

5R joint manipulator kinematics model of position module is established, and according to the D-H method kinematical analyse of manipulator is processed, the space pose transformation matrix between adjacent rods of manipulator is established. The position equations of the manipulator is obtained and the Forward & Inverse solution of kinematics are got. The correctness of the forward & inverse solution are also verified through a engineering examples.

• Periodical: Applied Mechanics and Materials (Volumes 220-223)
• Pages: 1744-1747
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.220-223.1744
• Online since: November 2012
• Authors: Ke Tao, Yuan Yuan Zhang, Zhi Jun Wang, Ping Ping Song
• Keywords: 5R Joint Manipulator, Forward Solution, Inverse Solution, Kinematics

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