基于MDH模型的新型混联码垛机器人运动学分析与仿真  

Kinematics Analysis and Simulation of A New Type of Hybrid Palletizing Robot based on MDH Model

作　　者：郭瑞峰[1] 彭光宇[1] 杨柳[1] 袁超峰[1] 

机构地区：[1]西安建筑科技大学机电工程学院,陕西西安710055

出　　处：《机械传动》2017年第2期122-127,138,共7页Journal of Mechanical Transmission

基　　金：陕西省科技厅工业科技攻关项目(2015GY068)

摘　　要：国内文献对机器人运动学模型的论述中,鲜有提及MDH模型。详细介绍了用于旋转关节的MDH模型,并以新型混联码垛机器人为例,通过参考坐标系单独求解与齐次变换法求解相结合的方式,推导了机器人的正、逆运动学方程;采用"5-3-5"轨迹规划法,运用MATLAB编写了轨迹规划程序,并在LMS Virtual.lab Motion中完成了轨迹规划的运动学仿真;通过对比分析仿真结果与理论计算值,验证了理论推导的正确性。为建立机器人运动学误差模型提供了理论依据,弥补了国内对MDH模型论述的不足。As a model adopted in robot kinematics,MDH model is hardly mentioned in domestic literature.The MDH model about rotating joint is introduced in detail,taking a new type of hybrid palletizing robot as example.The kinematics equations of the robot are deduced by combining solving solely through reference coordinate system with homogeneous transformation solution.The 5-3-5 method is used in trajectory planning,and the program is written by using MATLAB,corresponding kinematics simulation is completed in LMS Virtual.lab Motion.The correctness of theoretical derivation is verified through comparing the results of simulation with calculation.It provides a theoretical basis for establishing robot kinematics precision model and make up the lack of MDH model in domestic literature.

关 键 词：混联机器人 MDH模型 运动学分析 轨迹规划 LMS Virtual.lab仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]