摘要
针对数据接口体积小及装配精度高的特点,设计了一种3P2R型装配机器人,并利用SolidWorks绘制三维模型。运用MDH法、齐次坐标变换,建立了机器人正逆运动学方程,通过计算验证了运动学正解的正确性。采用Matlab Robotics工具箱对机器人装配作业进行了运动学仿真,通过对末端夹爪运动轨迹、各关节速度及加速度曲线的分析,从而证明机器人设计参数的合理性。研究结果验证了机构运动的可行性,为机器人动力学分析及控制系统设计提供了理论依据。
A 3P2R assembly robot is designed in conformity with a small size data interface and a high accuracy assembling characteristics, and SolidWorks is used to set up the Three Dimensional (3D) solid model of the robot. The MDH method and homogeneous coordinate transformation were adopted to establish the forward and inverse kinematics solution. The correctness of the forward kinematics solution was verified based on calculation. The relation curves of terminal actuator trajectory, velocity and acceleration varying with time were obtained, so as to prove the rationality of the design parameters for the robot by using Matlab Robotics Tool Box to simulate dynamically its assembling operation. The results of the research verify that mechanism movement is feasible, which provides a theoretical basis for robot dynamics analysis and control system design.
作者
谢俊
贾一鸣
宋俊朋
李畅
杨启志
XIE Jun;JIA Yiming;SONG Junpeng;LI Chang;YANG Qizhi(Institute of Intelligent Machinery and Robot,Jiangsu University,Zhenjiang Jiangsu 212013,China;Kunshan TopA Intelligent Equipment Co.,Ltd.,Kunshan Jiangsu 215311,China)
出处
《机床与液压》
北大核心
2019年第23期7-10,51,共5页
Machine Tool & Hydraulics
基金
国家自然科学基金资助项目(51675239)
关键词
装配机器人
MDH法
运动特性
仿真
Assembly robot
MDH coordinate method
Kinematic characteristics
Simulation
