摘要
机器人位姿研究是提高机器人运行可靠性的重要途径。为研究机器人关节驱动方程与运动曲线及状态的关系,建立了3R1P机器人的数学模型,设定了各运动关节的驱动参数方程,通过点对点运动控制,得到了机器人的最终运动曲线和相关参数。研究结果指出了机器人运行的各个不稳定阶段。并且指出,运动副确定后,驱动曲线影响机器人运动状态,机器人末端执行器的速度、加速度变化是各运动副运动状态的叠加。与4-5-6-7曲线和3-4-5曲线方程相比,3次曲线更有利于降低机器人的疲劳损伤。
Robot position and pose research is an important way to enhance the reliability of the robot run. For the study on the relationship of robot joints drive equation with the state and the movement curve,this paper builds the 3R1 P robot mathematical model,sets the drive parameter equation of each movement joints. Through the point-to-point motion control,the final motion curve and related parameters are obtained. Research results point out each robot running unstable stage,and show that drive curve affects the robot motion after determining motion pair,the speed of the robot executor and acceleration change is the superposition of the motion state. Compared with the 4-5-6-7 curve and 4-5-6 curve equation,cubic curve is more advantageous to reduce the fatigue damage of the robot.
出处
《机械工程师》
2015年第9期10-13,共4页
Mechanical Engineer
基金
河南省教育厅2015年重点科研项目(15A460042)
河南省教育厅2014年重点科研项目(14A460011)
