摘要
针对自主创新设计的2P3R型机床上下料机器人,给出了该机器人运动学方程的完整推导过程;采用蒙特卡洛法与碰撞检测算法相结合的方法,对该机器人工作空间进行仿真分析,得到基座与杆件及末端无碰撞点云图;同时提出图解法与数值仿真验证相结合的方法确定并验证了工作空间剖截面边界。该方法利用了数值仿真分析使用简单、适用于各种结构机器人的优点和图解法能够确定准确工作空间边界的特点。结果表明:提出的方法可以有效获取机器人无碰撞工作空间及确切边界。
A 2P3 R robot for up-down material of vertical machining center is designed in self-creating.The first,adopting DH method establish the equation of kinematics.The second,the MonteCarlo method isadopted during workspace simulation analysis of 2P3 R robot,while at the same time introducing collision detection algorithm. In this paper,workspace boundary of sectionplanar are drew by graphic method and numerical simulation method. This approach boasts the advantages of both numerical simulation and graphic method,ensuring awide applicable range and accurate workspace edge.The results show that theproposed method can effectively get collision-free workspace for the robot manipulator with an end effector.
作者
韩军
尹常志
张巍
HAN Jun;YIN Chang-zhi;ZHANG Wei(School of Mechanical Engineering,Inner Mongolia University of Science and Technology,Inner Mongolia Baotou 014010,China)
出处
《机械设计与制造》
北大核心
2019年第1期236-238,244,共4页
Machinery Design & Manufacture
基金
内蒙古科技大学创新基金项目(2014QDL021)
