摘要
以ABB IRB1600为例,通过D-H参数,利用MATLAB机器人工具箱对六自由度串联机器人进行建模,并对其进行轨迹规划,得到机器人的末端轨迹和运动过程中的角度变化。利用Recur Dyn软件对机器人的杆件柔性化,并对其进行动力学仿真,分析不同负载下机器人的末端误差和运动过程中柔性杆件的变形。该研究为进一步分析机器人的定位精度,并减小定位误差提供参考。
Taking ABB IRB1600 as an example, through the D-H parameter, the MATLAB robotics toolbox is used toestablish the 6 DOF robot model, and the trajectory planning is carried out to get the end of the robot trajectory and theangle changes. RecurDyn software is used to make the link flexible, and the dynamic simulation is carried out to analyzethe end error of the robot under different loads. This paper analyzes the deformation of the flexible link. This studyprovides a reference for further analyzing the positioning accuracy of the robot and reducing the positioning error.
出处
《机械工程师》
2017年第12期40-42,共3页
Mechanical Engineer
