双臂教学机器人的运动分析及仿真

Kinematics Analysis and Simulation on Two-arm Teaching Manipulator

为了进行双臂教学机器人控制系统的设计和方便机器人教学,对双臂教学SCARA机器人进行运动分析与仿真.给出了机器人的运动学正解和逆解,提出了一套机构简化方案,完成了机器人的各种手臂姿态规划,分析了存在的运动干涉约束.最后运用运动学正解和逆解进行软件仿真设计,得出了机器人手臂的工作区域,并在工作区域内进行了圆弧运动仿真.

In order to make the base of two-arm teaching SCARA manipulator design and facilitate robot education, analysis of kinematics and simulation on the manipulator are implemented. The forward kinematics solution and inverse kinematics solution are given and a set of robot mechanism simplification procedures are put forward. Various robot arm postures are planned and the kinematic interference constraint is analyzed. Finally the simulation is designed and realized with forward kinematics solution and inverse kinematics solution. The concrete arm working area is drawn and a circle simulation is implemented in the arm working area.