摘要
设计一种新型SCARA机器人腕部结构,实现了运动的解耦,降低了硬件开发成本且利于运动控制。基于机器人工具箱及运动分析软件,进行仿真分析与验证。首先推导出运动学逆解,在D-H参数的基础上,通过MATLAB Robotics Toolbox工具建立机器人运动学模型,并验证逆解的正确性。进而在SolidWorks Motion环境下,对点到点运动(PTP)及连续运动(CP)路径进行轨迹规划并仿真。仿真结果较好地实现了预定的关节轨迹和路径跟踪,为实际运动控制系统软件开发提供了重要参考。
A new wrist joint of SCARA robot is designed,which satisfies the demand of motion decoupling and cost cutting. It reduces the difficulties of motion control because of the special robot wrist structure. The robot model was verified and some simulation research have done in the aid of Robotics Toolbox and motion analysis software. Firstly,the inverse kinematic is derived.Then,the kinematic model is established using the robot D-H parameters in MATLAB Robotics Toolbox,which is verified by the toolbox. At last,the trajectory of PTP and CP motion path is planned,which is simulated using Solid Works Motion software. The result demonstrates the motion path and joint trajectory perfectly. In a word,the whole work provide a good guide for the motion control system development.
出处
《现代制造工程》
CSCD
北大核心
2015年第12期23-27,60,共6页
Modern Manufacturing Engineering
基金
高档数控机床与基础制造装备科技重大专项基金项目(2011ZX04013-011)
