AutoLISP在关节型机器人运动仿真中的应用  

Kinematic simulation of joint robot based on AutoLISP

作　　者：徐呈艺[1] 丁海萍[1] 季照平[1] 焦恩璋[2] 刘英[2] 

机构地区：[1]南通职业大学机械工程学院,南通226007 [2]南京林业大学机械电子工程学院,南京210037

出　　处：《现代制造工程》2013年第3期28-31,67,共5页Modern Manufacturing Engineering

摘　　要：借助AutoCAD工作平台对6R关节型机器人进行三维建模,建立了其正运动学数学模型。通过开发的AutoLISP程序实现了调用rotate3d函数对三维机器人各关节进行驱动仿真,能够呈现逼真的机器人动态过程,可以直观地判断机器人的碰撞干涉问题。仿真结果表明了用AutoLISP语言实现机器人运动仿真具有直观、形象、快速和效率高等优点。同时该方法对于其他类型机构的三维动态仿真研究具有一定的借鉴意义。3D modeling of 6R joint-robot is realized based on AutoCAD. The forward kinematics mathematic model of robot is es-tablished. Simulation of joint driving is realized by rotate3d function based on AutoLISP program. These can show vivid robot ki- netic process. At the same time a simple method of collision checking is given. The results of simulation show the true of robot ki- netic simulation based on AutoLISP. And it can be said that this method is visualization and effective. The method also has its sig-nificance for other 3D kinetic simulation.

关 键 词：AUTOLISP AUTOCAD 机器人 运动仿真 干涉检验 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]