摘要
在机器人的建模仿真研究中,多关节机器人因其结构复杂易导致建模不准确,机器人在仿真运动过程中难以体现实际的运动情况。为提高多关节机器人仿真运动时的模型逼真效果,提出了一种结合机器人工具箱和三维绘图软件构建机器人3D仿真模型的方法。以安川的MH24通用机器人作为研究对象,对各关节结构和连杆参数进行建模分析,求解该机器人的正逆运动学方程。使用Solid Works绘图软件建立机器人各关节的3D模型,通过机器人工具箱对各关节3D模型和D-H参数模型进行整合,构建了逼真的MH24机器人3D仿真模型,完成了机器人各连杆的动态仿真驱动和末端执行器的轨迹规划仿真分析。通过正运动学方程和求解的机器人末端执行器的位姿矩阵值验证了3D建模的精确性。
In the research of robot modeling and simulation,multi-joint robot is difficult to model accurately because of its complex structure,so it is difficult for the robot to reflect the actual movement in the process of simulation movement.To improve the simulation fidelity of multi-joint robot model in motion simulation,a method to construct a 3D simulation model with robot toolbox and 3D drawing software was put forward.Taken MH24 universal robots Yaskawa as the research object,each joint of the structure and link parameters were modeled and analyzed,in order to solve the forward and inverse kinematics equation of the robot.By using SolidWorks software,3D model of each joint of robot was established.The 3D simulation model of MH24 robot was built by integrating the 3D model of each joint and the D-H parameter model through the robot toolbox.The dynamic simulation drive of each link of the robot and the trajectory planning simulation analysis of the end-effector were completed.The accuracy of 3D modeling was verified by the forward kinematics equation and the pose matrix value of the robot end-effector.
作者
王会良
贾波
WANG Huiliang;JIA Bo(School of Mechatronics Engineering,Henan University of Science and Technology, Luoyang Henan 471003,China)
出处
《机床与液压》
北大核心
2018年第23期29-34,共6页
Machine Tool & Hydraulics
基金
河南省科技攻关项目(172102210038)
