6自由度喷涂机器人的运动学分析与仿真

The Kinematics Analysis and Simulation for Six-Degree-Of-Freedom Spraying Robot

运用回转变换张量法建立了6自由度喷涂机器人的运动学模型,并利用消元法简化了运动学逆解的求解过程,得出了较为简易的解析解。利用ADAMS软件建立了机器人的虚拟样机模型,并进行运动仿真分析,不仅证明了运动学模型的正确性,也为后续研究奠定了基础。

Using the Rotation-Transformation-Tensor Method to build the Kinematics Model of 6-DOF spraying robot, and the use of Elimination Method simplifies the solving process of inverse kinematics, comes to a relatively simple analytical solution. Using ADAMS software to build the Virtual Prototype Model of the robot and do some simulation analysis which not only proves the correctness of the Kinematics Model and also build the foundation for future research.