串并联结构工业机器人D-H参数建立及算例

The Serial-parallel Industrial Robot of the Establishment of Parameter of D-H and Example

D-H坐标系相对于6R串联型的工业机器人相对成熟,而对于2、3轴串-并联结构型的工业机器人研究较少。本文通过对传统的串联6R机器人和这类机器人进行运动分析,并根据两者之间的差别,将2、3轴串-并联结构机器人改成全串联型的D-H轴机器人,再对这种机器人采用6+1轴D-H坐标系进行了正运动学求解,最后通过ABB robotstudio对比验证6+1轴D-H坐标系,证明其是正确的。

D-H method for a series type of 6R industrial robots has been developed, but the kinematics of 2,3 axis se-ries - parallel industrial robot has not been deeply researched. The conventional series 6R robot and the robotics motion areanalyzed in this paper. Based on the difference between the two robotics motion, the 2,3 axis series - parallel industrial robotis turned into a series type of 6＋1 axis robots. In this way, inverse kinematics problems are solved using 6＋1 Axis D-Hmethod. Finally, the 6＋1 axis D-H method is verified by ABB robotstudio contradistinction, which proves it is correct.