1、工业机器人D-H建模实例主要内容 基于SCARA机器人掌握DH建模流程 掌握DH建模计算方法DH建模流程SCARA机器人 1978年，日本 4轴，4自由度 3个旋转关节+1个移动关节 结构轻便、响应快 适用于平面定位，垂直方向进行装配的作业SCARA机器人 建立坐标系 确定结构参数 建立变换矩阵),(),(),(),(11111nntnnrnntnnrnndzTzTaxTxTT111101000000100001csscT221221200000100001cslscT223310001000010001lTd444434000000100001csscTcos,sinnnnncs其中，111
2、111111cossin0sincoscoscossinsinsinsincossincoscos0001nnnnnnnnnnnnnnnnnnnadTd展开有： 得到机器人变换方程0012341234TT T T T对于SCARA教学机器人(四个自由度)，机器人的末端装置即为连杆4的坐标系，它与基座的关系为:D-H参数表i1234(末端 )a(i-1) (i-1)di i例 10001(0)a0002(0)a1-9003(0)Z4a0a1Z2X3Y2Z3X2Y3d2Z1X1Z0Y0X0Y1X4Y400d201000010000cossin0sincosT2202221a1000000sinco
3、sT0cossin1003313332a1000100000T24310001d1000001030100300011000301000010000110000010010020001100001000010100010,30,20,104332211040321210TTTTTdaa1000010000cossin00sincosT011111例 1Z41020Z2X3Y2Z3X2Y330Z1X1Z0Y0X0Y1X4Y410000010301003000140TyxzRyRxRz例 1D-H参数表Z3例1的D-H参数表a0a1Z2X3Y2X2Y3d2Z1X1Z0Y0X0Y1Y3X3Z3例 2
4、1000010000cossin0sincosT2202221a100000sincosT0cossin10033213332da1000001030100300010,30,20,1032211030321210TTTTdaa1000010000cossin00sincosT011111例 2D-H参数表Y3X3Z0Y0X0Z1X1Y1Z2X2Y2Z3a1a2i123a(i-1) (i-1)di i00a11(0)0-9002(0)090a2 3(0)例 3100010000cossin0sincosT01111110a1000000sincosT0cossin100022222110000
5、sincosT00cossin10003323332a100030100001000010,20,103221103032121TTTTaa例 31000301000010000132211030TTTTyxzRyRxRzY3X3Z0Y0X0Z1X1Y1Z2X2Y2Z31020例 3D-H参数表例3的D-H参数表Y3X3Z0Y0X0Z1X1Y1Z2X2Y2Z3a1a2例 4100030100000100100,90,20,103221103032121TTTTaaY3X3Z0Y0X0Z1X1Y1Z2X2Y2Z310201000301000010000132211030TTTTyxzRyRxRz例例3的值的值例 4总结 介绍了SCARA机器人，要掌握DH建模流程 通过例题要掌握DH建模计算方法，最终得到机器人变换矩阵
