危险作业机器人机械臂设计及其运动学分析

Manipulator design and kinematics analysis for hazardous operation robot

从危险作业机器人的任务需求出发创新设计了一种带有平移自由度的六自由度机械臂,建立了机械臂的虚拟样机模型,机械手工作域的仿真分析表明较好的满足了设计要求。同时,运用D-H法建立机器人的连杆坐标系,进行了正向运动学分析,推导出机械臂的运动学方程以及手爪坐标系相对于基坐标系的位姿矩阵,针对运动学方程的特点,提出了解析法和基于正向运动学分析的可行解估计法相结合的试探搜索算法进行逆运动学求解,实例分析和编程验算表明该方法稳健可靠,计算精度和处理速度能够满足机器人实时在线控制的要求,并且可以应用于机器人轨迹规划和跟踪控制。

Considering the formidable task for the hazardous operation robot,a kind of manipulator of six DOF with sliding freedom,is designed in this paper,where the virtual robot arm model is drawn and simulation results of manipulator＇s working range show that the design requirement is basically satisfied.In addition,joint coordinate system of the robot arm is established based on the Denavit-Hartenberg method,the direct kinematics problem is analyzed,kinematics equations of the robot arm and position-orientation matrix of tool frame in the base reference coordinate are deduced as well.A new algorithm defined as testing search method to solve the inverse kinematics problem is proposed,which is a combination of analytic algorithm and estimating feasible solutions algorithm based on the analytical results of direct problem.At last,the results of checking calculation confirm that the algorithm is stable and reliable and the processing speed and calculation accuracy can meet the requirements of the robot controlled online,which can also be applied into trajectory planning and tracking control.