内容：
为优化智能堆垛叉车的三向属具的控制方法,对三向属具进行运动学建模及仿真分析。搭建三向属具的实验平台,基于D-H建模方法,建立了三向属具的数学模型,运用Robotics Toolbox作为分析工具,通过仿真和实验开展平台的正、逆运动学分析及验证。实验结果表明:逆运动学结果与正运动学设定的关节变量中垂直方向的移动关节变量误差为0.1%、水平方向的移动关节变量误差为1.5%、转动变量误差为1.1%,验证了所建的三向属具平台数学模型的正确性。该研究为智能叉车三向属具准确有效控制提供了参考。 In order to optimize the three - way control method of intelligent stacker forklift, kinematics modeling and simulation analysis of three - way. Based on the D-H modeling method, a three-way mathematical model was established. Robotics Toolbox was used as the analysis tool to carry out the positive and negative kinematics analysis and verification of the platform through simulation and experiment. The experimental results show that the error of moving joint variable in the vertical direction is 0.1%, the error of moving joint variable in horizontal direction is 1.5%, and the error of rotational variable is 1.1%, which verifies that The correctness of the mathematical model of the three - way platform. This study provides a reference for accurate and effective control of the three-way intelligent forklift.

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