七自由度主被动混合式机器人运动学分析

Kinematics Analysis of 7-DOFS Active and Passive Hybrid Robot

针对传统工业机器人工作空间不足的问题,设计出一款七自由度主被动混合式机器人。该机器人包含被动部分和主动部分,被动部分用于把主动部分机器人置于工作前的摆位,以适应更多范围的机械臂工作。基于D-H法建立了机器人正运动学模型,通过代数法建立了机器人逆运动学模型,获得了机器人关节空间与工作空间的转换关系。基于Sim Mechanics搭建了混合式机器人的机构模型,基于Simulink搭建了正向、逆向运动学的仿真模型,通过仿真验证了正向、逆向运动学模型的正确性。根据蒙特卡洛法分析了机器人主动关节的工作空间。

A forward kinematics model of the robot is established based on the D-H method,and the inverse kinematics model of the robot is established by algebraic method.By these kinematics models,the relationship between the joint space and the workspace of the robot is obtained.The mechanism model of hybrid robot is built based on Sim Mechanics.A forward and reverse kinematics simulation model is built based on Simulink.The correctness of forward and reverse kinematics model is verified by simulation.According to the Monte Carlo method,the workspace of the robot joint is analyzed.