二杆机械臂式激光模切系统运动学分析

The Kinematics Analysis for the Laser Die-Cutting System of Two Parallel Link Rods

为了使二杆机械臂式激光模切系统能够按照控制器发出的控制命令驱动连杆各关节,使连杆末端激光头达到模切任务所要求的目标位置,对其进行运动学分析及仿真。对常见的振镜式激光模切系统和飞行光路式激光模切系统进行对比分析,提出一种二杆机械臂式激光模切系统。利用D-H变换法建立机构坐标系,并对其进行正逆运动学分析。基于MATLAB/Simmechanic软件建立二杆机械臂运动学仿真模型,对其作用空间进行仿真分析。对机械臂末端规划一条直线,将直线数据导入运动学模型。结果表明:机械臂末端能够按照控制指令达到所要求的目标位置。

In order to make the die- cutting system of two parallel link rods executive the control commands from the controller,to achieve the target location that tasks required,the kinematics analysis and simulation are carried on. According to the analysis and comparison for galvanometer scanning system and flight optical path laser die-cutting system,a new laser die-cutting system were put forward,which mechanical device is composed of two parallel link rods. The coordinate was established based on the D-H method,in which the forward and inverse kinematics analysis had been derived. The kinematics model was established based on MATLAB / Simmechanics software,which was to simulation analysis for the work place. A straight trajectory was planned and its data was put into the kinematics model and the simulation results were obtained. It is concluded that the end of the mechanical arm can achieve the target location that tasks required.