一种选择性柔性五自由度机器人的运动学分析  

Kinematic Analysis of a Selective Flexible Five-DOF Robot

作　　者：张将[1,2] 秦训鹏[1,2] 胡泽启 

机构地区：[1]武汉理工大学汽车工程学院,湖北武汉430070 [2]现代汽车零部件技术湖北省重点实验室,湖北武汉430070

出　　处：《机床与液压》2016年第9期42-47,共6页Machine Tool & Hydraulics

摘　　要：介绍一种新的选择性柔性五自由度机器人,以D-H矩阵为基础建立了机器人的运动学方程,利用代数解法直接推导出逆运动学的解。进行Matlab数值仿真求解出机器人的可达工作空间,进行ADAMS仿真,给出机器人末端执行器中心在x,y,z轴的位移、速度、加速度曲线,利用所测数据证明推导的运动学方程正确性。仿真结果表明,机器臂可平稳安全到达工作空间内指定位置,从而验证结构设计的合理性,为后续结构优化和运动控制提供依据。A new type of selective flexible five degree of freedom( 5DOF) robot was introduced. The kinematics equation of the robot was established based on the D-H matrix,and the solution of inverse kinematics was derived directly by using algebraic method.Matlab numerical simulation was carried out to solve the reachable workspace of the robot,and the ADAMS simulation was carried out to give the displacement,velocity and acceleration curve of the robot end effector center in x,y,and z axis. The correctness of the kinematic equation was proved by using the measured data. The simulation results show that the robot arm can reach safely and smoothly to the position of the working space as designated,so as to verify the rationality of the structure design,and provide the basis for the subsequent structural optimization and motion control.

关 键 词：机器人 运动学分析 工作空间 ADAMS 仿真 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]