六轴工业机器人的运动学分析

Kinematics Analysis of Six-axis Industrial Robot

如今正是我国社会主义发展的关键时期,尤其是在德国工业4.0以及中国制造2025的提出之后,人工智能技术逐渐被提到了相应的高度。在工业方面,基于人工智能技术产生的工业机器人问世之后,便得到相关岗位人员的认可,对于一些传统或者危险的人工操作,工业机器人都能够发挥奇效,这也让它逐渐成为了当前不可替代的工业产品设备。文章所研究的对象为六轴工业机器人,其结构存在着六个关节,这些关节采用串联的手法整合在一起。其中,每个关节配备有对应的驱动器,控制着机器人的工作运动。从运动学的角度入手,对六轴工业机器人进行细致化分析。

Today is the critical period for the development of socialism in China,especially after the proposal of German Industry 4.0 and made in China 2025,artificial intelligence technology has been gradually raised to the corresponding height by the people of the whole country.In industry,after the birth of the industrial robot based on artificial intelligence technology,it has been recognized by the relevant personnel.For some traditional or dangerous manual operations,the industrial robot can play a wonderful effect.This has also made it an increasingly irreplaceable industrial product device.The object studied in this paper is a six-axis industrial robot,which has six joints and is integrated in series.Among them,each joint is equipped with a corresponding driver to control the working movement of the robot.From the point of view of kinematics,the six-axis industrial robot is analyzed in detail.