Application and Analysis of Kinematics for Nonstandard Numerical Equipment Manipulators

Nonstandard numerical equipment manipulator kinematics was researched.The parameter input kinematics models for nonstandard numerical equipment manipulators were established by the Denavit-Hartenberg method,and the inverse kinematics was gained by the algebra method that was put forward by Paul et al.The direct kinematics and inverse kinematics were programmed to dynamic link library functions.The choice of models and the D-H parameters input by user can be transferred to the dynamic link library functions as function parameter.The all-purpose kinematics model is obtained,and the efficiency of programme is improved.