摘要：工业机器人作为具有多自由度的机械装置，其所拥有的灵活性、可操作性等著称而且为工业和其他许多领域提供了很大相当大的便捷。现在的工业机器人能按照编程与程序设定自己完成所需完成的任务，并且工业机器人能依靠本身原有的动力和控制与被控的能力来实现各种工作，它们可以按照人的操控进行运作也可以根据预先的编程来自行运行。机械手属于工业机器人中的一种，它能根据人的手臂的运动方式方法来进行模仿，从而进行某些动作与功能，是一种按固定程序抓取、搬运物品器件或者进行操作的自动操作装置。工业机器人机械臂的特点数不胜数，例如可供编程、拟人化程度高、通用化程度较高。工业机器人技术所涉及到的学科也可以说十分的广泛。关于机械臂，其关节的数量决定了其自由度。通常情况下,一般的机械臂具备六个独立的自由度，其中三个用来定位,三个来辨别方向。对于不同功能的机械臂可拥有不同数量的自由度，而关节参数的增加伴随着控制机械手难度的增加。61936

本文的主要研究内容与方向是四自由度工业机器人机械臂的运动学建模以及仿真，所使用的方法为D—H 坐标变换法，根据所有的变换都是相对于运动坐标系，以此建立机械臂的运动学数学模型和变换矩阵，在得到变换矩阵后，利用MATLAB，求出方程的正逆运动学的解。根据正运动学的解，可以得到机械臂各关节在执行任务时的运动轨迹及其图像；而逆运动学的解可以求出机械臂要到达某一姿态机械臂各关节的扭角。而得出的运动学分析也可为机械臂的自动控制提供了设计参数。最后利用PID控制，进行对机械臂的轨迹的模拟仿真,并且根据相关理论数据来验证其控制效果和稳定性。

毕业论文关键词： 机械臂；四自由度机器人；运动学方程

Kinematics modeling and simulation of industrial robot

Abstract: Industrial robot is provided for industrial field or more degrees of freedom multi-joint manipulator machine device, which can automatically perform the work and tasks, and under their own power and control ability to realize various functions of a machine, they can accept human command, also can be in accordance with the advance of program to run, the modern industrial robot can also according to the artificial intelligence technology to develop the principle of program actions. And the manipulator in the industrial robot can imitate some of the man's hand and arm movement function, to grab, moving objects according to a fixed procedure or operation tool automatic operation of the device. Its mechanical characteristics is programmable, anthropomorphic, high degree of generalization, involves widespread discipline of industrial machine technology. The number of joints determines the degrees-of-freedom (DOF) of the manipulator. A manipulator should possess at least six independent DOF: three for positioning and three for orientation. Different manipulator can have different number of degrees of freedom. The difficulty of controlling a manipulator increases rapidly with the number of links. 

  The main research content in this paper is the kinematics modeling and simulation of a 4-DOF manipulator. Using coordinate transformation method for D - H method, according to all the transformation is relative to the coordinate system, to establish a mathematical model of mechanical arm kinematics and transformation matrix, after get the transformation matrix, by using MATLAB, and is inverse kinematics solution of the equation. According to the forward kinematics solution, can get a robot arm motion trajectory of each joint in the mission and its image; Mechanical arm and inverse kinematics solution can be calculated to reach a twist Angle of each joint mechanical arm gesture. And it is concluded that the kinematics analysis of the mechanical arm can also be used for automatic control provides the design parameters. Finally using PID control trajectory simulation of mechanical arm, and validate its control effect and stability.