一种缝纫双机械臂的建模与工作空间分析

Modeling and Workspace Analysis of a Sewing Double Manipulator

针对方向盘产能受制于皮套缝纫的问题,设计一种双机械臂自动化系统。运用D-H运动学建模方法,分析建立机械臂各关节坐标系并确定其参数,建立机械臂的运动学模型,推导末端执行的位姿,并通过Matlab软件的机器人工具箱进行仿真,对比计算结果以验证模型的准确性。为确定双机械臂的协作空间,采用蒙特卡洛法,利用Matlab软件的均匀分布函数,求解机械臂的工作空间,绘制工作空间的三维点图,从而为后续机械臂的轨迹规划和运动控制提供依据。

Aiming at the problem that steering wheel productivity is limited by leather sleeve sewing, this paper designs an automatic system of double mechanical arms. The D-H kinematic modeling method was used to analyze and establish the coordinate system of each joint of the manipulator and determine its parameters. The kinematic model of the manipulator was established, and then the pose of the end execution was deduced. The simulation was carried out through the robot toolbox of Matlab, and the accuracy of the model was verified by comparing with the calculation results. In order to determine the collaboration space of the two robotic arms, Monte Carlo method was adopted and the uniform distribution function of Matlab was used to solve the working space of the robotic arms, and the three-dimensional point diagram of the working space was drawn to provide a basis for the trajectory planning and motion control of the subsequent robotic arms.