工业机器人喷涂运动学仿真研究

为了提高工业机器人设计分析效率,降低昂贵的机器人开发成本,利用虚拟样机技术对机器人进行了运动学仿真,提出了机器人的轨迹规划。根据HA006型工业机器人的结构特点,建立了基于D—H连杆坐标系的机器人运动学模型,利用MATLAB软件的机器人工具箱构建机器人对象,求解机器人基于关节坐标和直角坐标的轨迹规划,并通过SolidWorks软件进行连续路径喷涂轨迹规划的运动学仿真与分析,较为直观地观察机器人工作姿态和运动轨迹,得到机器人运动性能的实时状况。试验结果表明,该方法可以清楚地判定机器人运动方案的合理性及轨迹规划及控制算法的可行性,有效地提高了工业机器人的设计效率。

Research on Spraying Kinematics Simulation of Industrial Robots

In order to improve the analysis efficiency of industrial robots design,reduce the expensive development costs of robots,kinematics simulation was carried out by using virtual prototype technology of robots.The trajectory planning of robot was proposed.According to the structure feature of HA006 type industrial robots,robot kinematics model based on the D-H link coordinates was built.Robotics Toolbox of MATLAB software was used to construct robots.The trajectory planning based on the joint coordinates and cartesian coordinates was built.Through SolidWorks simulation and the kinematic analysis of trajectory planning,the visually working posture and movement can be observed,and the robot motion performance in real time can be gotten.The experiment results showed that it can clearly judge the rationality of the robot motion scheme,and it can clearly observe the trajectory planning and the feasibility of the control algorithm.So it can effectively improve the efficiency of the design of industrial robots.