摘要
以六自由度焊接机器人为研究对象,采用标准D-H参数法建立坐标系与运动学方程,利用MATLAB/Robotics Toolbox工具箱建立机器人运动模型,对正运动及轨迹规划进行仿真,得到连续且平稳的末端轨迹曲线和关节角位移、角速度、角加速度的变化曲线。结合具体工件,完成了轨迹仿真和实际试验,由实际焊接点拟合得到的轨迹曲线与仿真轨迹曲线具有良好的一致性,表明仿真结果具有较高的精度和良好的平稳性,为后续机器人的离线编程系统开发打下了良好的基础。
Taking the6-DOF welding robot as the object,it uses the standard D-H parameter method to establish the coordinate system and kinematics equation,builds the robot motion model in MATLAB/Robotics Toolbox,and simulates the positive motion and trajectory planning,obtains a continuous and stable curve of the end trajectory and joint angular displacement,angular velocity,and angular acceleration.Combining with the specific workpiece,it carries out the trajectory simulation and actual experiment.The trajectory curve obtained with the actual welding point fitting has good consistency with the simulated trajectory curve.The simulation result has high precision and good stability,and provides great development for offline programming systems for subsequent robots.
作者
邢红辉
王保升
洪磊
左健民
石朗春
Xing Honghui;Wang Baosheng;Hong Lei;Zuo Jianmin;Shi Langchun(Research Department of Intelligent Manufacturing Equipment,Nanjing Institute of Technology,Jiangsu Nanjing,211167,China;Jiangsu Provincial Engineering Laboratory of Intelligent Manufacturing Equipment,Jiangsu Nanjing,211167,China;Jiangsu Key Laboratory of Advanced Numerical Control Technology,Jiangsu Nanjing,211167,China)
出处
《机械设计与制造工程》
2018年第12期43-47,共5页
Machine Design and Manufacturing Engineering
基金
国家自然科学基金资助项目(61703200)
