六自由度工业机器人结构设计与运动仿真

随着计算机、自动控制等技术的发展,工业机器人被大量运用于多种场合。其末端执行器决定了机器人的功能,但机器人本体结构的设计尤为重要。为方便研究,设计了一种六自由度工业机器人结构,采用D-H方法,完成机器人的运动正解。运动逆解采用代数法完成。最后,充分利用LabVIEW便捷的人机界面设计、Softmotion插件丰富的运动控制函数以及Solidworks Motion直观的三维仿真等优点,联合LabVIEW的Softmotion插件和Solidworks Motion进行运动仿真,该思路还能够为后续物理样机的控制仿真提供帮助。

Structural design and motion simulation of 6-DOF industrial robot

With development of computer and auto-control technologies,the industrial robot has been used widely. The function of industrial robot is decided by its end actuator,but it’s more important to design the main body. A 6-DOF industrial robot structure was designed. With the method of D-H,the forward kinematics analysis of the robot was completed. The algebra method is adopted for the inverse kinematics analysis of the robot. The kinematic simulation of the robot was done by making full use of the speedy man-machine interface design of Labview,rich motion control functions of Softmotion module and visual 3-D simulation of Solidworks Motion,by combining the Softmotion module of Labview with Solidworks Motion.The method can also provide a help for control simulation of the following physical prototype.