Motion Modeling and Virtual Simulation Experiment with Three Degrees of Freedom Manipulator Based on MRDS

Abstract

The simulation platform with three degrees of freedom mechanical arm with three joints of four connecting rod as the research object, established the D-H model, according to the known conditions respectively from the two aspects of positive and reverse kinematics of mechanical arm are analyzed. Finally built a robot arm with three degrees of freedom motion simulation platform using MRDS. And the analysis results through the MATLAB tool to verify the correctness of the kinematics, and shows that MRDS is feasible as a manipulator kinematics simulation platform, which provides reference basis for kinematics research and application of three degree of freedom manipulator under MRDS.