讨论了一种六自由度排爆机械手运动学问题，利用D－H坐标变换方法来建立了机械手的运动学数学模型和目标矩阵，利用 MATLAB 强大的符号运算功能，对方程进行求解，得出正逆运动学的解。通过正运动学的解，可以得出了

解机械手各关节在执行任务时的运动轨迹；而逆运动学的解则可以求出机械手要到达某一位姿机械手各关节的扭角。运动学分析也为今后实现机械手的自动控制提供了设计参数。 -A kinematics promble of a 6-DOF bomb-disposing manipulator was discussed in this paper.The kinematics algorithm model and target matrix were established by D-H coordinate exchange.And then obverse and inverse kinamatics calculates were

obtained by MATLAB depending on its excellent capability for symbolic math prombles . The trajectory of manipulator arms

could be obtained by the result of obverse kinamatics when manipulator worked,and also torsional angles could be obtained by

the result of inverse kinamatics when manipulator arrivalled certain pose. Parameters were provided by kinematics analysis for automatic controlling manipulator.