基于MATLAB的七自由度机器人运动学及工作空间仿真  

Kinematic Analysis and Simulation of 7-DOF Welding Robot based on MATLAB

作　　者：徐小龙[1] 高锦宏[2] 王殿君[2] 张立平[1] 

机构地区：[1]北京化工大学机电工程学院,北京100029 [2]北京石油化工学院机械工程学院,北京102617

出　　处：《新技术新工艺》2014年第5期21-24,共4页New Technology & New Process

摘　　要：在充分调研国内外先进机器人构型设计的基础上,设计出一种基于UG三维建模的七自由度机器人。基于D-H矩阵理论,建立了七自由度机器人的正运动学方程。基于MATLAB软件,采用了随机抽样的数值方法。针对本体结构和运动方式特征,分析了七自由度机器人的工作空间,得到了其末端的工作空间点云图。仿真结果表明,用蒙特卡洛法分析七自由度机器人的工作空间变化平缓,无突兀现象,从而验证了结构设计的合理性,对其后期的结构及其控制系统的优化设计提供了依据。On the basis of the full investigation of advanced welding robot configuration design,designed a 7-DOF welding robot based on UG three-dimensional modeling.The forward equation of kinematics was built based on the D-H matrix according to the body structure and motion features of 7-DOF welding robots.The workspace of manipulator was analyzed by numerical methods for random sampling.The cloud picture was completed based on MATLAB.Simulation results showed that the experimental results indicated that by using numerical methods for random sampling the analysis of weld robot workspace changed smoothly without impact,which confirmed the reasonableness of structural design,and provided the basis for optimal design of robot control system and structural design of the latter.

关 键 词：机器人 运动学 MATLAB 蒙特卡洛法 工作空间 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]