摘要
根据PUMA560的结构特点,构建了机器人的AutoCAD模型和D-H坐标系。采用机器人D-H坐标变换法,建立了PUMA560机器人运动学正解的数学模型。借助AutoCAD平台对工件中心位置和姿态进行测量,使得数学模型和CAD运动仿真得到了较全面的相互验证,对工业机器人运动性能研究具有积极意义。
According to the structure characteristics of the PUMA560 robot, the AutoUAD moael ana D-H coordinate of the robot arc built. The mathematical model of the forward kinematics solution is established based on the D-H coordinate transformation. After measuring the position posture of the coordinate system of workpiece center with AutoCAD platform, the mathematical model and the CAD simulation are verified mutually in a comparative all-round way. So these make positive significance of industrial robot on motion performance.
出处
《煤矿机械》
北大核心
2012年第11期97-99,共3页
Coal Mine Machinery
