具有变胞功能的焊接机器人拓扑分析和工作空间建模分析

Welding Robot's Topological Analysis and Kinematics Modeling Analysis with the Function of Metamorphic Mechanism

此文使用了关联矩阵及逻辑运算,对变胞过程进行描述,该方法能直观地描述出构态变换的过程和目的,变胞矩阵构造简便。同时,结合李群、李代数的旋量理论,给出机器人系统的运动学建模方程,并用Matlab/Sim Mechanics进行工作空间仿真,为后面进行运动学仿真和动力学仿真奠定基础。

this article uses the correlation matrix and logicaloperation to describe metamorphic process.The method canintuitively describe the process and purpose of the structural statetransformation,and the simple structure of metamorphic matrix.At the same time,combining Lie Algebra＇s Screw Theory Thisarticle gives the kinematics of the robot system modeling equationand working space simulation,using Matlab and Sim Mechanicsto work space simulation,to lay the foundation for kinematicssimulation and dynamics simulation.