摘要
根据MOTOMAN-UP6的结构特点,构建了机器人的AutoCAD模型和D-H坐标系。根据机器人D-H矩阵理论,通过UP6机器人机械接口坐标系向机座坐标系的齐次坐标转换,建立了机器人正运动学的数学模型。借助AutoCAD平台,对机械接口坐标系位置和姿态进行测量,使数学模型和CAD仿真得到了较全面的相互验证。通过ADAMS对UP6机器人进行运动学仿真,得到了机器人不同状态下位移、速度和加速度的实时分析结果,对关节型机器人运动性能研究具有重要的意义。
Based on the structure characteristics of the MOTOMAN-UP6 robot, the AutoCAD model and D-H coordinate of the robot were built. According to the theory of D-H matrix, the mathematical model of the forward kinematics problem was established by homogenous transformation, which was from the coordinate system of mechanical interface to the coordinate system of UP6 plinth. Af- ter measuring the position posture of the coordinate system of mechanical interface with AutoCAD platform, the mathematical model and the CAD simulation were verified mutually in a comparative all-round way. Simulating the UP6 robot kinematics by ADAMS software, the real time resuhs of displacement, speed and acceleration of robot in different conditions were obtained. So these have significance to joint-robot on motion performance study.
出处
《机床与液压》
北大核心
2013年第9期144-149,共6页
Machine Tool & Hydraulics
