基于一体化关节的模块化六轴机器人技术研究

Research on Modular Six-Axis Robot Based on Integrated Joints

为适应不同应用场景机器人的定制化需求,研究基于一体化关节的模块化六轴机器人搭建技术。研制14和25两种型号关节,确定其机械与电气通信接口,并测试得到关节性能参数。选用BRR腕结构六轴机器人构型,通过MDH参数法得到该构型模块化机器人正运动学特性。通过分析机器人最大工况负载,研究臂展、加速度及负载之间关系。以设计的50 N负载机器人为例,仿真最大负载工况空间运动轨迹,并联合ADAMS软件进行动力学分析,验证机器人各关节的负载特性。基于模块化机器人技术,搭建两种臂展机器人,使用激光跟踪仪对机器人进行标定实验,并将机器人应用于巡检作业场景。结果表明:基于一体化关节的模块化机器人技术,可快速实现对臂展和负载的定制化需求。

In order to adapt to the customized needs of robots in different application, the construction technology of modular six-axis robots based on integrated joints was studied. Two types of joints, 14 type and 25 type, were developed, the mechanical and electrical communication interfaces were determined, and the joint performance parameters were obtained by testing. The six-axis robot configuration of the BRR wrist structure was selected, and the positive kinematics characteristics of the modular robot of this configuration were obtained by the MDH parameter method. Through analyzing the maximum load of the robot, the relationship between the arm span, acceleration and load was studied. Taking the designed 50 N load robot as example, the space motion trajectory of the maximum load condition was simulated, and the dynamic analysis was performed with ADAMS software to verify the load characteristics of each joint of the robot. Based on the modular robot technology, two types of modular robots were built, and the laser tracker was used to perform calibration experiments on the robots, and the robots were applied to the inspection operation scene. The results show that the modular robot technology based on integrated joints can be used to quickly realize the customized requirements for arm span and load.