一种协作型机器人运动性能分析与仿真  

Analysis and simulation on kinematics performance of a collaborative robot

作　　者：胡明伟[1,2] 王洪光[1] 潘新安[1] 田勇[1,2] 常勇[1] 

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016 [2]中国科学院大学,北京100049

出　　处：《智能系统学报》2017年第1期75-81,共7页CAAI Transactions on Intelligent Systems

基　　金：国家自然科学基金项目(51405482);辽宁省自然科学基金计划项目(2013020054);中国科学院重点部署项目(KGZD-EW-608-1);辽宁省产业共性技术创新平台计划项目(2015106014)

摘　　要：随着制造模式的变革,协作型机器人在工业领域的应用日益广泛。本文介绍了协作型机器人的特性,并且以KUKA LBR iiwa机器人为例,进行运动性能分析,旨在为研发此类机器人提供设计理论依据。利用DenavitHartenberg法建立了该机器人运动学模型。基于蒙特卡洛法在MATLAB环境下对机器人灵活性和可操作性进行分析,并对其在狭小空间内作业进行轨迹规划,仿真结果表明LBR iiwa机器人具有良好的灵活性、可操作性及避障能力。With the revolution of manufacturing mode,the appl icat ion of col laborative robot in industry is becoming increasingly widespread. This paper introduces the characteristics of collaborative robot and analyzes the kinematics performance of KUKA LBR iiwa which is the typical representative of collaborative robots. The aim of this work is to provide design theory basis for developing this kind of robot. The robot kinematic model is established by Denavit- Hartenberg method. Based on Monte-Carlo method, the flexibility and manipulabil ity of robot are analyzed in MATLAB environment. The trajectory of robot working in narrow workspace is planned,simulation results show that LBR iiwa has good flexibility,manipulability and obstacle avoidance ability.

关 键 词：LBR iiwa 协作型机器人 灵活性 可操作性 狭小空间 轨迹规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]