摘要
针对船体密封舱、箱柜等狭窄空间普遍存在的机器人难以工作问题,提出了一种新型6-DOF(degrees of freedom)机器人。首先分析了该机器人的机械结构,基于D-H坐标理论建立了机器人D-H坐标表格以及机器人正、逆运动学方程,其次应用MATLAB对机器人的运动学进行了仿真,结果表明所得的机器人正、逆运动学方程完全正确;最后设计了虚拟样机,利用RobotStudio仿真分析了机器人箱体焊接的优点;为进一步验证设计的机器人运动性能,与通用6-DOF机器人做了对比分析。研究结果表明新型机器人运动的可行性,为设计适应箱柜等狭窄空间的工业机器人提供了理论依据。
A imingat the working difficulties of ship cabin, cabinet and other narrow space, a 6 degrees offreedom（6-DOF） robot was developed. First analyzes the mechanical structure of the robot, the robot D-H and robot coordinate form of forward and inverse kinematics equation was established based on the theory of D-H coordinates, followed by the application of MATLAB kinematics of the robot simulation, the results show that the robot kinematics and inverse kinematics equations exactly; finally a virtual prototype is designed, and the movement of the welding case is analyzed by RobotStudio simulation. In order to further verify the performance of the designed robot, it is compared with the general 6-DOF robot. The results show that the feasibility of the new robot, and provides a theoretical basis for the design of industrial robots to adapt to the cabinet and so on narrow space.
出处
《机械设计与制造》
北大核心
2018年第2期238-241,共4页
Machinery Design & Manufacture
基金
广东省科技厅专项资金项目(2015A020209010)
广东省高等职业技术教育研究会项目(GDGZ15Y032)
