一种气门电镦成型机器人轨迹规划与仿真研究

运用D-H法建立气门电镦成型机器人数学模型,并进行运动学正逆解。根据实际现场对机器人运动路径要求,规划其运动路径,现场通过示教获取机器人运动关键点,并在关节空间进行B样条曲线轨迹规划研究,获取关节空间轨迹运动函数表达式,并利用Matlab工具对规划轨迹进行仿真模拟。结果表明利用该方法能生成一条关节位移、速度、加速度都连续的平滑运动轨迹,以保证机器人工作时按规定的路径平稳地运行,且能顺利避开障碍物,满足设计和使用要求。

Trajectory planning and simulation for valve electric upsetting forming robot

A mathematical model for valve electric upsetting forming robot is established with D-H method,and a forward-inverse kinematic solution has been done.Then a robot’s motion path is planned based on the actual working requirement to obtain the motion key point by site teaching.Meanwhile a study for the trajectory planning in the joint space with B-spine curve was made to obtain a function expression for trajectory movement of joint space,and a simulation for the planning trajectory is carried out with Matlab.The result shows that the approach can produce a smooth trajectory with continuous joint displacement,velocity and acceleration,which makes the robot run steady according to the required path,avoid the obstacles successfully and meet the designing and operating requirement.