基于matlab的六自由度机器人运动特性分析  

Kinematic Characteristics Analysis of 6-DOF Robot Based on Matlab

作　　者：苏学满[1,2] 孙丽丽[1] 杨明[1] 许德章[1,2] 

机构地区：[1]安徽工程大学机械与汽车工程学院,安徽芜湖241000 [2]先进数控与伺服驱动技术安徽省重点实验室,安徽芜湖241000

出　　处：《机械设计与制造》2013年第1期78-80,共3页Machinery Design & Manufacture

基　　金：国家自然科学基金项目(51175001);安徽省自然科学基金项目(11040606M144);安徽工程大学青年基金项目(2009YQ021)

摘　　要：应用Denavit-Hartenberg法建立6R机器人的关节坐标系并确定杆件参数,建立机器人的正逆运动学模型,在Matlab环境下利用Monte Carlo法计算出机器人的工作空间,并用Robotics Toolbox对机器人正逆运动学进行仿真,并对工作空间及关节空间的运动轨迹进行规划,从而验证机器人结构设计的合理性。为动力学分析、离线编程、基于力反馈机器人动态控制以及机器人结构的动态设计的研究奠定必要的基础。6R robot joint coordinate systems were established and link parameters were determined by Denavit-Hartenberg method,and the robot forward and inverse kinematics model were established.In the MATLAB,the workspace of the robot was calculated by the Monte Carlo method.The forward kinematics and inverse kinematics were simulated,and trajectories of workspace and joint space were planned by the Robotics Toolbox,so as to verify the rationality of the design of the structure.The necessary foundation was laid for dynamics analysis,offline programming,based on force feedback of the robot dynamic control and the dynamic design of the robot structure.

关 键 词：运动学 D-H 蒙特卡洛法 工作空间 ROBOTICS TOOLBOX 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.2[自动化与计算机技术—检测技术与自动化装置]