中文摘要：

针对Reniovo型六自由度机械手的特定构型,分析了机械手的基本结构,用D-H方法建立了其运动学模型,并推导了基于解析法的机械手正、逆运动学求解方法,针对运动学逆解,推导了基于多解自动寻优的方法,提高了机械手的可行工作空间和避碰能力,最终在运动学求解基础上设计了机械手的运动轨迹规划算法。此外,利用3ds Max进行机械手三维建模,并利用Open Gl技术实现机械手三维运动显示,以三维可视化仿真的方式对机械手的逆解及轨迹规划算法进行了仿真验证,仿真结果显示仿真机械手可以准确执行预期轨迹并达到预定的位姿,证明了上述的仿真方法对于研究机械手工作原理、工作空间及进行碰撞检测都具有参考意义。

英文摘要：

Arming at specific type configuration of the Reniovo manipulator with a six - degree - freedom, the bas- ic structure of the manipulator was analyzed, a kinematics model of the manipulator was established by D - H meth- od, the forward and inverse kinematics models were derivated. For the inverse kinematics, automatic optimization methods were derived based on the multiple solutions, which improved the practical work space mad robot collision a- voidance capability, and ultimately trajectory planning algorithm was designed on the basis of the kinematics. Be- sides, we used 3 D SMax to design the three -dimensional model, used OpenG1 to realize the three -dimensional dis- play of the manipulator, and verified the inverse solution and the trajectory planning algorithm.. Simulation results show that the robot can accurately perform simulation trajectory and is expected to reach a predetermined posture, which proves the presented simulation method has some reference value for the study of working principle, working space and collision detection of robots.