| 六关节工业机器人工作空间及轨迹规划仿真 |
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| 引用本文： | 李琚陈,曾谊晖.六关节工业机器人工作空间及轨迹规划仿真[J].食品与机械,2017,33(10):98-103. |
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| 作者姓名： | 李琚陈 曾谊晖 |
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| 作者单位： | 安徽文达信息工程学院，安徽 合肥 231201 |
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| 基金项目： | 2017年安徽教育厅自然科学研究重点项目（编号：KJ2017A650） |
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| 摘 要： | 利用MATLAB软件对六关节工业机器人的工作空间进行虚拟仿真分析,并推导机器人的工作空间;采用五次多项式进行插值计算对工业机器人的轨迹进行规划,并运用MATLAB软件对工业机器人轨迹规划进行仿真分析。结果表明:六关节工业机器人的工作范围基本能够满足食品包装过程中的工作需要;6个关节的运动都很平滑,各个关节的角度、速度、加速度与时间的曲线比较连续,规划路线比较合理。
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| 关 键 词： | 六关节工业机器人 虚拟仿真 运动学 工作空间 轨迹规划 |
Simulation of workspace and path design of industrial robot with six joints |
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| LIJuchen,ZENGYihui.Simulation of workspace and path design of industrial robot with six joints[J].Food and Machinery,2017,33(10):98-103. |
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| Authors: | LIJuchen ZENGYihui |
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| Affiliation: | Anhui Wenda University of Information Engineering, Hefei, Anhui 231201, China |
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| Abstract: | Workspace of industrial robot with six joints is derived and simulated by MATLAB software. With the quintic interpolation calculation, the path of industrial robot with six joints is designed. The simulation analysis of the path of industrial robot with six joints is carried out by MATLAB software. The results show that the workspace of industrial robot with six joints can basically meet needs of work in food packaging process. Moreover, the movement of industrial robot with six joints is very smooth. And the curve of angle, velocity, acceleration of each joint is continuous. And the planned path of welding robot with six joints is reasonable. |
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| Keywords: | industrial robot with six joints simulation kinematics workspace design of the path |
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