2P3R型加工中心上下料机器人运动学分析及仿真

The Kinematics Analysis and Simulation of 2P3R Up-Down Material Robot for CNC

针对加工中心上下料工作需要,自主创新设计了2P3R型机器人。为分析机器人机构运动的可行性,对该机器人进行了运动学分析。用D-H法、齐次变换矩阵,建立了机器人正逆运动学方程,通过计算验证了正运动学方程的正确性;用UGNX软件建立了机器人的三维模型并导入到ADAMS软件中,对机器人上下料作业进行了运动学仿真分析,得到机器人末端夹手的上下料轨迹、位移及速度曲线。研究结果验证了机器人运动的可行性,为机器人的设计、空间轨迹规划及控制提供理论依据。

PA 2P3R robot for up-down material of CNC is designed in self-creating. In order to analyze the feasibility of robot mechanism movement,the kinematics of the robot is analyzed.The first, adopting D-H method and transformation matrix establishthe equation of kinematics and inverse kinematics. Direct kinematics model of the robot is verified to be right by calculation.The second, 3D solid assembly model of the 2P3R robot is built in UGNX and imported into ADAMS, The last, according to the feeding and unloading job ,using ADAM Scarry out the kinematic simulation analysis and gain the curves of the trajectory, displacement, velocity.Research results verifythe feasibility of the robot mechanism motion and the aim was to provide the theoretical basis for the design of robot, trajectory planning and control.