新型直通式手腕运动学仿真及绝缘支架设计与分析

针对新型直通式手腕,用D-H方法得到了正逆运动学方程;结合MATLAB和ADAMS仿真,验证运动方程的正确性。在手腕和旋杯之间用绝缘支架联接,使得机器人在侧喷和顶喷时具有一定方向性,从而减小手腕弯转角度,降低手腕内部管路的磨损。通过分析绝缘支架倾角与俯仰角度的关系得出:当支架倾角为60°时,手腕的俯仰角最大达到200°,能够实现机器人的背向喷涂。

Kinematics Simulation for a New Type of Straight through Wrist

The positive and inverse kinematics of a new straight through wrist was analyzed.The workspace was analyzed for the wrist, and the kinematics simulation was completed with ADAMS software. The wrist and the cup were connected with the insulation bracket, so that in the side spray and top spray, the robot had a certain direction to reduce the wrist bending angle, and reduce the wear of the internal pipeline of the wrist.Through the analysis of the relationship between the angle and the tilt angle of the insulation bracket, it is concluded that when the angle of the bracket is 60°, the pitch angle of the wrist is up to 200°, so backward spraying can be realized.