6R机器人正运动学分析方法研究

Research on Methods of Forward Kinematics Analysis of 6R Robot

6R机器人正运动学分析是指给定各关节的关节空间变量值,求解末端执行器在工作空间的位置和姿态。利用6R弧焊专用机器人的机械本体结构,在D-H坐标系和旋量理论坐标系下建立了末端执行器的运动学方程,利用MATLAB软件求解位姿矩阵;在虚拟样机软件中建立了机器人运动学模型,进行运动学仿真得到末端执行器不同状态下的位移曲线。并将三种方法所得末端执行器的位姿进行了比较,验证了这三种方法的正确性。研究结果为后续的动力学分析、轨迹规划奠定了基础。

Forward kinematics analysis of 6R robot is solving position and attitude of the end-manipulator according to the given joint space variables.Based on the mechanical structure of 6R arc welding robot,the kinematics equations of the robot end-manipulator are established under D-H coordinate and screw theory coordinate,and the pose matrixes are solved by using MATLAB.The kinematics simulation model of the robot is established in the virtual prototype software,and displacement curves of the robot end-manipulator under different conditions are obtained by simulation.The end-manipulator pose matrixes of the three methods are compared and the correctness of the three methods is verified.The research results built foundation for robot dynamics and trajectory control.