摘要
提出了一种能够实现六自由度移动的混联可控机构式喷涂机器人机构。分析了该喷涂机器人的运动学特性,运用D-H法建立运动学方程,求解机器人末端在笛卡尔工作空间的位置和姿态,利用解析法求解机器人的逆运动学问题,为以后的进一步分析提供参考。
In this paper,a kind of 6 DOF spraying robot mechanism,the palletizing robot with hybrid connection and controlled institutions,was put forward. The kinematics characteristics of the palletizing robot were analyzed.The kinematical equations were established by D-H method to solve the position and attitude of robot end in Cartesian workspace. The inverse kinematics problem of robot was solved by analytic method,which can provide reference for further analysis.
出处
《装备制造技术》
2017年第7期27-30,34,共5页
Equipment Manufacturing Technology
关键词
喷涂机器人
运动学分析
运动仿真
spraying robot
kinematics analysis
analytic method
