HP20机器人的运动学逆解计算及模拟仿真

Inverse-Resolving and Simulating of HP20 Robot Kinematics

根据Motoman-HP20型机器人的结构特点,利用DH方法建立了其运动学方程,并推导出了运动学逆解。将所求得的运动学逆解编写成Matlab程序,计算了末端执行器在正弦曲线轨迹下各个关节角度变化曲线。建立HP20型机器人的多体动力学虚拟样机,将曲线导入驱动虚拟样机,得到模型的运动轨迹。通过对比,目标曲线与运动轨迹吻合良好,验证了运动学逆解及程序的正确性。研究结果为研究在特定工况下,机械臂的运动学、动力学及电机扭矩特性打下了基础。

According to the structure characteristics of Motoman-HP20 robot , the paper built up its kinematics formula and derived the inverse-resolving of kinematics with the help of DH method , compiled the MATLAB program with inverse- resolving of kinematics obtained, calculated the terminate executor＇s angle-changing curves of the knuckles by the condition of sinusoidal track, established multi-body virtual prototype of liP 20 robot, guiding the curves into driven virtual prototype and obtained the movement track of model. Through comparing, the target curves are well consistent with movement track, thus certified the correctness of kinematics inverse resolving and program. The study offers foundations for kinematics of mechanical arm, dynamic and characteristics of electrical torque under specific condition. [ Ch ,5 fig. 1 tab. 11 ref. ]