面向3C产品装配的高速冗余度机器人系统研究

A novel obstacle and singularity avoidance path planning algorithm for redundant robots

针对3C产品高速装配领域,以平面3R冗余度机器人为研究对象,提出了一种驱动单元集中布置的传动方案,保证了机器人的快速性和稳定性.在Solid Works环境下,对平面3R冗余度机器人进行了三维模型设计,并联合Matlab软件中的Sim Mechanical插件完成机器人动力学建模及分析.采用D-H方法建立平面3R冗余度机器人运动学模型,基于此模型提出了一种针对冗余度机器人的避障路径规划算法,利用冗余运动链的自运动在零空间实现障碍回避.通过对平面3R冗余度机器人的仿真实验验证算法的有效性.

In order to improve the rapidity and stability of the manipulator in the 3 C product high -speed assembly areas, a drive unit concentrate arrangement transmission scheme was presented for plane 3R redundant manipulator. Designed 3D solid model with environment of the SolidWorks and the manipulator dynamic model are established by the union of Solid- Works and SimMechanical in Matlab to simulate the dynamic performance. Denavit - Harten- berg method was used to derive the kinematic model of plane 3R redundant manipulator and an obstacle avoidance of redundant robot path planning method is presented based on the kinematic model and completed the obstacle avoidance based on the self- motion of the redun- dant manipulator on a null space. Through simulation of a 3 - DOF redundant manipulator, the scheme proved to be feasible and effective.