一种搬运机器人运动学仿真分析和实际应用

Kinematics Simulation Analysis and Practical Application of a Handling Robot

采用D-H方法建立了一种搬运机器人的连杆坐标系,详细求解了其运动学正解问题,通过ADAMS对该搬运机器人运动仿真分析,得到了机器人末端位置点的位移和角度,证明了其运动学模型的正确性;同时利用ADAMS对搬运机器人在实际应用中进行空间轨迹规划,指导现场调试,节约了现场调试时间。该搬运机器人解决了实际生产中对一定规格的重物以及有害物质搬运难的问题,从而提高了生产效率。

The link coordinate of a handling robot was established by using D-H method,and the kinematics positive solutions were deduced in detail. The displacement and angle of the robot end location point were obtained from the handling robot motion simulation analysis based on ADAMS,so that the validity of its kinematics model was demonstrated. At the same time,using ADAMS for the handling robot space trajectory planning in actual applications,the scene debugging could be guided,and the scene debugging time was saved. The handling difficult problems of the heavy weight of a certain size and harmful material were solved by the handling robot in the actual production,thereby improving the production efficiency.