【机械臂】matlab模拟平面并联机械臂附GUI

1 简介

目前在许多食品,机械加工等行业的自动化生产线上普遍存在抓取和分拣等大量的重复性工作,为了降低劳动成本,提高生产效率,实现高效益,提高生产的安全可靠性,推动并联机械手的发展非常有必要.​

2 部分代码

function [D] = PRR3_InversePosKin(P11,P12,P13,Pe,b,a,d3)% Function to return the joint variables of the 3PRR manipulator for% given end effector pose and manipulator geometrysgn1 = -1;sgn2 = 1;sgn3 = 1;​x31 = Pe(1)+a(2,1)*cos(Pe(3)+d3(1));x32 = Pe(1)+a(2,2)*cos(Pe(3)+d3(2));x33 = Pe(1)+a(2,3)*cos(Pe(3)+d3(3));​y31 = Pe(2)+a(2,1)*sin(Pe(3)+d3(1));y32 = Pe(2)+a(2,2)*sin(Pe(3)+d3(2));y33 = Pe(2)+a(2,3)*sin(Pe(3)+d3(3));​A1 = y31-P11(2)-(x31-P11(1))*tan(b(1))+a(1,1)*tan(b(1));B1 = 2*a(1,1);C1 = y31-P11(2)-(x31-P11(1))*tan(b(1))-a(1,1)*tan(b(1));​A2 = y32-P12(2)-(x32-P12(1))*tan(b(2))+a(1,2)*tan(b(2));B2 = 2*a(1,2);C2 = y32-P12(2)-(x32-P12(1))*tan(b(2))-a(1,2)*tan(b(2));​A3 = y33-P13(2)-(x33-P13(1))*tan(b(3))+a(1,3)*tan(b(3));B3 = 2*a(1,3);C3 = y33-P13(2)-(x33-P13(1))*tan(b(3))-a(1,3)*tan(b(3));​if((isreal(sqrt(B1^2-4*A1*C1)))&(isreal(sqrt(B2^2-4*A2*C2)))&(isreal(sqrt(B3^2-4*A3*C3))))t21b = 2*atan2((-B1+sgn1*sqrt(B1^2-4*A1*C1)),(2*A1));t11 = t21b-pi;d1 = sqrt((x31+a(1,1)*cos(t21b)-P11(1))^2+ (y31+a(1,1)*sin(t21b)-P11(2))^2);​t22b = 2*atan2((-B2+sgn2*sqrt(B2^2-4*A2*C2)),(2*A2));t12 = t22b-pi;d2 = sqrt((x32+a(1,2)*cos(t22b)-P12(1))^2+ (y32+a(1,2)*sin(t22b)-P12(2))^2);​t23b = 2*atan2((-B3+sgn3*sqrt(B3^2-4*A3*C3)),(2*A3));t13 = t23b-pi;d3 = sqrt((x33+a(1,3)*cos(t23b)-P13(1))^2+ (y33+a(1,3)*sin(t23b)-P13(2))^2);​D = [d1 d2 d3 t11 t12 t13];else    D = [];end

3 仿真结果

4 参考文献

[1]黄俊华, 田壮. 基于MATLAB的四杆并联机械臂工作空间仿真与分析[J]. 山东工业技术, 2019(20).

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