中文摘要：

机械臂的正运动学以及逆运动学一直是机械臂研究领域的基础以及关键性问题,这里针对于一种带指向机构的二自由度机械臂,提出了一种基于几何法的运动学分析,根据机械臂的结构特点和运动约束,对机械臂的运动学进行分析,建立了该类型机械臂的运动学模型,通过几何方法得到了以关节角度为变量的运动学模型,并在理论推导的基础上编写该机械臂的分析界面,仿真验证了正运动学模型以及运动学逆解的正确性,运动学逆解可以用于机械臂指向机构的精确定位以及轨迹规划。

英文摘要：

Forward kinematics and inverse kinematics of the manipulator has been the basic research in the field of mechanical arm and the key problems. For the two DOF manipulator with a pointing mechanism ,we has proposed a method base on geometric method.A ccording to the structural characteristics of the manipulator and motion constraints, we analysed the kinematic of the manipulator and establishedthe type of manipulator＇s kinematic model. We have got the kinematic model whose variable is the value of jointthrough geometric method and wrote the corresponding kinematic analysis interface to verify the correctness of the kinematic method about the forward and inverse kinematic of the model. The inverse kinematics solution can be used in the precise positioning and trajectory planning of the robot arm painting mechanism.