机器人装配作业轨迹规划研究

Research on Trajectory Planning of Robot Assembly Operation

随着智能化、无人化技术的发展,机器人自主装配将成为工业生产自动化、无人化主要发展方向。针对采用机器人完成内燃机配件自动装配问题,依托Matlab/Adams联合仿真对工作路径进行轨迹规划仿真。建立装配机器人运动学模型,并对装配路径进行轨迹规划,利用Matlab/Adams联合仿真验证运动学模型的可行性,仿真结果表明装配机器人所规划的轨迹运动学和动力学特性良好,能够很好的按规划的路径完成装配作业,为内燃机配件装配实现无人化作业提供借鉴。

With the development of intelligent and unmanned technology,autonomous assembly of robots will become the main development direction of industrial production automation and unmanned.Aiming at the problem of using robots to complete the automatic assembly of internal combustion engine parts,relying on Matlab/Adams co-simulation to simulate the trajectory planning of the working path.Establish a kinematic model of the assembly robot,and plan the trajectory of the assembly path,using Matlab/Adams co-simulation to verify the feasibility of the kinematics model.The simulation results show that the planned trajectory of the assembly robot has good kinematics and dynamics characteristics,and can complete the assembly work well according to the planned path,which provides reference for the realization of unmanned operation in the assembly of internal combustion engine parts.