双手互换机械臂的运动学建模及控制研究

Research on Kinematics Modeling and Control of Two-handed Interchangeable Manipulator

设计一种通过两只手爪的转换实现翻面作业的搬运机械臂。运用机器人原理,通过D-H的齐次变换矩阵法建立双手机械臂的运动学模型。采用多核工控机,利用CODESYS RTE将工控机的一个核配置成软控制器,通过Ethercat协议连接实轴驱动器,实现对双手机械臂的运动仿真,并采用梯形速度规划生成平滑连续的位姿轨迹。利用7次多项式插值实现加速度平滑变化的轨迹,减少机械结构的冲击。仿真分析表明:双手机械臂的结构设计合理可靠,所求解出的运动学理论方程准确。

A handling manipulator arm for turning over is designed by means of the conversion of two claws.The kinematic model of two-hand mechanical arm is established by using the principle of robot and the homogeneous transformation matrix method of D-H.A core of the industrial control computer is configured as a soft controller with multi-core industrial control computer and CODESYS RTE.The real-axis driver is connected by Ethercat protocol to realize motion simulation of two-hand mechanical arm,and a smooth and continuous position and attitude trajectory is generated by trapezoidal speed planning.Seven-degree polynomial interpolation is used to realize smooth track of acceleration variation and reduce impact of mechanical structure.The simulation analysis shows that the structural design of the two-hand mechanical arm is reasonable and reliable,and the kinematics theoretical equation solved is accurate.