摘要
在Matlab/Sim Mechanics工具箱中,根据串联机器人关节的运动链特征,建立了串联机器人模型,在常用工作空间求解方法的基础上,提出了基于Sim Mechanics求解工作空间的一种方法。通过关节角度等步长转动约束,求解机器人末端的位置,通过多次包络形成包络线和包络面,经过数据的后处理和可视化,形成机器人的工作空间轮廓,该方法取点效率高、误差小,可减少工作空间求解过程的时间,为提高机器人加工效率提供了理论依据,为机器人运动学进一步研究奠定了基础。
A In the Matlab/SimMechanics toolbox, according to the kinematic chain characteristics of the serial robot joint, the robot model with six degrees of freedom is established. Based off the common methods of workspace solving, a method based on SimMechanics is put forward. With which, under the constraints of joint rotation with equal angle step, the position of robot＇s manipulator can be solved, the enveloping line and surface are formed through several enveloping, and the workspace profile of manipulator is obtained through data post-processing and visualization. This method has high efficiency and small error, can reduce the time of solving the workspace, and provides a theoretical basis for improving the processing efficiency of robot and lays the foundation for the further study of the kinematics of robot.
作者
刘佳刚
吴艳阳
张立先
Liu Jiagang Wu Yanyang Zhang Lixian(College of Mechanical and Electrical Engineering, Wuhan Institute of Technology, Wuhan, Hubei 430205, China Manufacturing Intelligence Engineering Research Center （Wuhan Institute of Technology)
出处
《计算机时代》
2017年第1期5-8,共4页
Computer Era
基金
武汉工程大学第八届研究生教育创新基金项目(2016)
