摘要
根据喷涂机器人的工作要求,采用改进的D-H法建立其运动学方程,并分析其正问题。利用Solidworks软件建立机器人几何模型,通过ADAMS仿真软件对虚拟样机进行运动学仿真分析;利用机器人工具箱求解运动学正、逆解,同时对机器人进行正运动学和轨迹规划仿真,得到了平滑而又连续的位移、速度、角度、运动轨迹曲线和机器人喷涂过程中的运动轨迹规划曲线。从而验证了几何模型设计的合理性和数学模型的正确性,为后续的动力学分析以及轨迹优化等奠定了理论基础。
According to the work requirements of the Painting robot,the kinematical equation were established by using the modified form of D-H notation,and the forward kinematics problem was analyzed by using the coordinate frame. The geometric model of the robot was established by the Solidworks software,and kinematics simulation analysis was conducted by using ADAMS; Kinematics,inverse kinematics was solved and the robot forward kinematics and trajectory planning simulation were carried by using Robotics Toolbox,the smooth and continuous displacement,velocity,angle,trajectory curves and the trajectory planning curve during the robot spraying were obtained. As so to verify rationality of the geometric model and correctness of the mathematical models model,which provided the theoretical foundation for subsequent kinematical analysis and trajectory optimization.
出处
《组合机床与自动化加工技术》
北大核心
2014年第8期44-48,共5页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家自然科学基金项目(51207072)
关键词
喷涂机器人
运动学
轨迹规划
仿真
painting robot
kinematics
trajectory planning
simulation
