Design And Realization Of Five-DOF Manipulator

Manipulators have been widely applied in various fields,such as industry,medical treatment,aerospace,education,etc.Meanwhile,as an important executive device of factory automation,the research of it is of great significance.Manipulators,the joint product of multiple disciplines,mainly contains machinery,hardware,software,algorithm and so on,which needs coordination design of different modules.In this thesis,five degrees of freedom manipulator is set as a research model.Firstly,improved Denavit-Hartenberg method is used to build up the forward and inverse kinematics model.The equations of it is deduced.Then,the set-up of manipulator by using MATLAB and the simulation of kinematics model are processed.Secondly,the algorithms of trajectory planning in five degrees of freedom manipulator are studied,which includes the algorithm of linear interpolation and circular interpolation of fixed step and variable step in the Cartesian space.The cubic polynomial interpolation and quintic polynomial interpolation algorithm in the joint space are also studied.Algorithm simulations are carried out by using MATLAB to observe the joint variables in different interpolation algorithm.Thirdly,building a platform for five degrees of freedom manipulator based on STM32.Then conduct the experiments of trajectory algorithm and grasping objects on the physical platform.The experimental results reached the expectations.