UP50工业机器人加工大直径螺纹的运动学分析

The kinematics analysis on the machining large diameter thread with UP50 robot

为了实现在施工现场用机器人加工修复大型零部件,对Motoman UP50工业机器人建立运动学模型并求解逆运动学。首先建立空间倾斜螺旋线模型,计算螺旋线节点位姿,验证机器人模型与各节点位姿的准确性。然后计算节点在关节空间中的位移、速度、加速度向量。最后比较和分析得到的向量,所得结论可为UP50工业机器人在关节空间的倾斜螺旋轨迹规划提供更准确的算法依据和更详细的理论基础。

Aiming at machining and repairing large parts with robot,it establishes the kinematics model and analyzes the inverse kinematics to Motoman UP50 robot.It builds the tilted spiral model in the space and calculates the node pose of the spiral line,verifies the veracity of robot model and each node pose,analyzes the displacement vector,the velocity vector and acceleration vector of the nodes in the joint space.Comparing some vectors,it provides the more accurate algorithm basis and theoretical basis for the tilted spiral trajectory planning of UP50 robot in the joint space.