一种关节型串联机器人工作空间边界提取的新方法  

A New Method for Workspace Boundary Extraction for Jointed Serial Robot

作　　者：侯雨雷[1] 王嫦美 胡鑫喆[1] 曾达幸[1] 赵永生[1] 

机构地区：[1]燕山大学,秦皇岛066004 [2]东方电气集团东方电机有限公司,德阳618000

出　　处：《中国机械工程》2015年第3期308-312,318,共6页China Mechanical Engineering

基　　金：国家科技重大专项(2010ZX04004-112);河北省自然科学基金资助项目(E2012203034)

摘　　要：利用杆件极限组合原理,结合定步距角法可固定关节变量的特点,提出一种提取工作空间边界的新方法——"极限定步距角法",阐明思路并给出其具体实施步骤。以某型ABB机器人为例,利用D-H法设定机器人连杆参数及关节变量,并建立机器人坐标系与D-H坐标系间的转换关系,获得机器人边界关键点位置,进而借助MATLAB软件绘制机器人手腕处三维透视工作空间,对比分析表明所获边界关键点精度完全满足商用机器人标准。所提出的方法简单有效、计算便捷、利于操作,对串联机器人工作空间的研究具有理论指导意义和实践应用价值。Based on the principles of bar limit combined with fixed joint variable, a new method for the workspaee boundary extraction——＂limit fixed interval angle＂ was proposed. The ideas and implementation steps was illuminated. Taking the ABB robot as an example, the link parameters and joint variables were set with D-H method. In addition, the transformation relation between the robot coordinate system and D-H coordinate system was established, from which the key point of workspace was obtained. Using MATLAB software, the three dimensional perspective workspace of the robot in the wrist was drew. A comparative analyses reveal that the accuracy of the boundary keypoint satisfies the standard of the commercial robots completely. The method presented herein is simple, effective, easy to calculate and manipulate. The research fruit of workspace of the serial robot possesses important theoretical guiding significance and practical application value.

关 键 词：串联机器人 工作空间 边界 极限定步距角 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]