智能車及多功能機器人系統(tǒng)的設(shè)計與制作(編輯修改稿)
2025-07-12 03:16 本頁面
【文章內(nèi)容簡介】 端對應(yīng)相等。解出關(guān)節(jié)旋轉(zhuǎn)角度。選擇最優(yōu)解。 syms a0 a1 a2 a3 y1 y2 y3 y4 y5 d1 d2 d3 d4 x1 x2 x3 x4 a b c a0=0 a1=0 a2=180 a3=0 y0=(0/180)*pi y1=(90/180)*pi y2=(0/180)*pi y3=(90/180)*pi d1=85 d2=0 d3=0 d4=150 x4=(90/180)*pi a= b=0 c= T10=[cos(x1) sin(x1) 0 a0。sin(x1)*cos(y0) cos(x1)*cos(y0) sin(y0) d1*sin(y0)。sin(x1)*sin(y0) cos(x1)*sin(y0) cos(y0) d1*cos(y0)。0 0 0 1] T21=[cos(x2) sin(x2) 0 a1。sin(x2)*cos(y1) cos(x2)*cos(y1) sin(y1) d2*sin(y1)。sin(x2)*sin(y1) cos(x2)*sin(y1) cos(y1) d2*cos(y1)。0 0 0 1] T32=[cos(x3) sin(x3) 0 a2。sin(x3)*cos(y2) cos(x3)*cos(y2) sin(y2) d3*sin(y2)。sin(x3)*sin(y2) cos(x3)*sin(y2) cos(y2) d3*cos(y2)。0 0 0 1] T43=[cos(x4) sin(x4) 0 a3。sin(x4)*cos(y3) cos(x4)*cos(y3) sin(y3) d4*sin(y3)。sin(x4)*sin(y3) cos(x4)*sin(y3) cos(y3) d4*cos(y3)。0 0 0 1] T40=T10*T21*T32*T43 f1=aT40(1,4) f2=bT40(2,4) f3=cT40(3,4) [x1,x2,x3]=solve(f1,f2,f3,x1,x2,x3) %轉(zhuǎn)化為角度值 x11=vpa(x1*180/pi,6) x22=vpa(x2*180/pi,6) x33=vpa(x3*180/pi,6) 結(jié)果： x11 = x22 = x33 = 即，θ 1=0，θ 2=135，θ 3=45 滿足所需設(shè)計 任意位姿 涂膠情形 當機械臂在最高位時，如圖 5 圖 5 涂膠板豎直最高位 可用求反解的 方式驗證，程序如下： syms a0 a1 a2 a3 y1 y2 y3 y4 y5 d1 d2 d3 d4 x1 x2 x3 x4 a b c a0=0 a1=0 a2=180 a3=0 y0=(0/180)*pi y1=(90/180)*pi y2=(0/180)*pi y3=(90/180)*pi d1=85 d2=0 d3=0 d4=150 x4=(90/180)*pi a=250 b=0 c=290 T10=[cos(x1) sin(x1) 0 a0。sin(x1)*cos(y0) cos(x1)*cos(y0) sin(y0) d1*sin(y0)。sin(x1)*sin(y0) cos(x1)*sin(y0) cos(y0) d1*cos(y0)。0 0 0 1] T21=[cos(x2) sin(x2) 0 a1。sin(x2)*cos(y1) cos(x2)*cos(y1) sin(y1) d2*sin(y1)。sin(x2)*sin(y1) cos(x2)*sin(y1) cos(y1) d2*cos(y1)。0 0 0 1] T32=[cos(x3) sin(x3) 0 a2。sin(x3)*cos(y2) cos(x3)*cos(y2) sin(y2) d3*sin(y2)。sin(x3)*sin(y2) cos(x3)*sin(y2) cos(y2) d3*cos(y2)。0 0 0 1] T43=[cos(x4) sin(x4) 0 a3。sin(x4)*cos(y3) cos(x4)*cos(y3) sin(y3) d4*sin(y3)。sin(x4)*sin(y3) cos(x4)*sin(y3) cos(y3) d4*cos(y3)。0 0 0 1] T40=T10*T21*T32*T43 f1=aT40(1,4) f2=bT40(2,4) f3=cT40(3,4) [x1,x2,x3]=solve(f1,f2,f3,x1,x2,x3) %轉(zhuǎn)化為角度值 x11=vpa(x1*180/pi,6) x22=vpa(x2*180/pi,6) x33=vpa(x3*180/pi,6) 運行結(jié)果： x11 = .771838e15 .771844e15 x22 = x33 =
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