协同搬运工业机器人系统运动学分析与工况仿真

Kinematics analysis and simulation of cooperative handling industrial robot system

为实现协同搬运重型物体,以双机器人系统作为研究对象,开发双工业机器人提升平台。对双工业机器人系统进行建模,建立机器人之间的相对位置关系,进行正运动学求解;使用MATLAB Robot Toolbox对机器人系统进行D-H建模,验证正逆解求解的正确性;参考机器人协同搬运时的平移工况,在VREP仿真软件中对两个机器人进行直线轨迹规划,验证平移物体时的工况平稳性,为机器人协同搬运提供了理论依据。

In order to realize the cooperative handling of heavy objects,a lifting platform for dual industrial robots was developed.The dual-robot system was modeled,the relative position relationship between the robots was established,and the positive and inverse kinematics were solved.D-H modeling of the robot system was carried out with MATLAB Robot Toolbox to verify the correctness of the positive and inverse solutions.Straight line trajectory planning was made in VREP simulation software to verify the smoothness of the working conditions.The study has provided theoretical basis for the cooperative handling of robots.