铣削串联机器人运动分析与轨迹规划

The kinematics analysis and trajectory planning of serial cutting robot

在加工形状复杂、切削力小、尺寸大的非金属工件时。可以采用工作空间大的串联机器人代替专门的数控加工系统进行铣削加工。本文针对特定工件的加工设计了一个6自由度铣削串联机器人,用D-H方法对该机器人进行了正、逆运动学分析,根据工件加工特点对机器人末端操作器位置进行了轨迹规划,最后利用MATLAB软件的Robotics toolbox工具进行了建模和仿真。本文为在铣削加工方面应用的工业机器人进一步的动力学分析,提供了理论基础。

Presents a kind of 6-dof serial cutting robot, instead of special numerical control machine tool, for manufacturing big size and complex shape nonmetal parts with little cutting force. in this paper, the forward and inverse kinematics is analyzed based on D-H method, And the trajectory planning of end-effectors is also proposed based on the characteristic of operation. Finally, the modeling and simulation is processed under the environment of MATLAB. For further study dynamic of serial robot in the cutting industrial it offers another theory tool.