The D-H method is used to model the kinematics of five degrees of freedom robot, and the relationship between the end position and the angle of each joint is established, and a positive kinematics model is established in the MATLAB/Simulink. The motion function of each joint in the ADAMS motion simulation is derived as the input of the Simulink model, and the displacement curve of the terminal in the direction of X and Y is obtained, and the line motion of the hand is obtained. The results of the kinematic simulation analysis of the ADAMS are compared and analyzed.

Filename	Size	Update
五自由度串联机器人的动态仿真分析.doc	1041408	2014-02-25

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