基于雅可比矩阵分析法的多关节机器人机构设计技术研究

鉴于多关节机器人机构参数的设计是极其复杂的难题，研究出一种平面6自由多关节机器人的机构设计方法。通过分析小载荷6自由度多关节机器人机构设计的特征，提出一种从末端工作载荷任务反推各个杆件所需驱动力与功率作为选取驱动部件、设计机构依据的思路。通过建立机器人正向、逆向运动学数学模型，引入雅可比矩阵解决机器人逆运动学解析问题，得到多关节机器人各关节的运动速度，在速度选定基础上，计算出驱动力矩，综合考虑性价比选择出电机与减速器，根据电机与减速器的外形尺寸，从多关节机器人末端反向设计出机构外形。设计实例表明，该机器人结构具有良好的运动特性，为多关节机器人的详细结构设计提供了一种简单、有效途径。

Research the mechanism design of multi-joint robot by the analysis of Jacobian Matrix

Because of the design of a manipulator was one the important issues in the field of multi-joint robots, based on the theory of the physical model of the solution space, the design of the planar 6-DOF manipulators was discussed. Analyzing the features of the design of 6-Dof multi-joint robot with small load, it proposed a method which is from the task of the end work load to put out the driving force and power required for each bar to select the driving components and design the mechanism. Mathematical models of forward and inverse solutions were established to resolve the anti-kinematic analytical solution problem by Jacobi matrix and the velocity of each joint with multi-joint robot was obtained. On the basis of selected speed, it calculated the torque and selected the motors and reducers with the considering of the cost-effective. According to the dimensions of the motors and reducers, body shape was designed from the end of the multi-joint robot. The design example proved that the robot possesses an better kinematic characteristics and provided a simple and useful way for the design of the multi-joint robots.