摘要
结合6自由度模块化机器人的结构特点及工况,采用数值法和Matlab平台对机器人的工作空间进行了分析。首先利用D-H(Denavait-Hatrenberg)法对机器人进行正运动学求解,再采用数值法对所求的方程进行分析,并用Matlab软件对分析结果进行仿真,绘制工作空间点云图,并对其外形轮廓图进行拟合,最后通过计算验证了此法的正确性。分析结果为机器人进一步优化及控制系统的设计提供了参考,也为机器人的应用、机器人工作任务的设计及工件的运动和定位提供了理论依据。
With the structure characteristics of the 6-DOF modular robot and working condition,the workspace of the robot has been analyzed on the basis of numerical method and Matlab platform. The forward kinematics equations of the robot has been built by using D-H（Denavait-Hatrenberg）method,then analyzed the equations with the numerical method,and finally simulated for the results by Matlab,mapped the spatial point cloud image,and fitted its shape profile. It confirmed that the correctness of this method. And the results provided a useful reference for further optimization design and control system of the Robot. It also provided the theory evidence for using robot and designing robot tasks and positioning the workpiece.
出处
《机械设计与制造》
北大核心
2015年第5期192-195,共4页
Machinery Design & Manufacture
基金
国家"八六三"高技术项目(2012AA041402)
北京石油化工学院大学生研究训练[URT]计划项目(2014J00087)
