小型机器人设计及运动学分析  

Design and Kinematics Analysis of Small Robots

作　　者：曾凯[1] 李浙昆[1] 刘剑雄[2] 白权[1] 李海龙[1] 胡宏[1] 

机构地区：[1]昆明理工大学机电工程学院,昆明650500 [2]昆明理工大学固体废弃物资源化国家工程研究中心,昆明650093

出　　处：《价值工程》2017年第27期108-111,共4页Value Engineering

摘　　要：由于机器人运动的精确性和快速性,进而在工业当中被广泛运用。但在一些特定场合中,需要运用小型机器人。而关于小型机器人的设计与研究还多停留在实验阶段,并未在工业上得到应用。基于此,设计了一种小型机器人,并用D-H(DenavitHartenberg)方法建立了以该机器人关节角为变量的运动学模型。基于该运动学模型,利用MATLAB机器人工具箱(robotics toolbox)对机器人进行轨迹规划。通过轨迹规划得到机器人末端随各关节点关节角度变化的轨迹及坐标。The robot is widely used in the industry, due to the motion accuracy and rapidity. But it is necessary to use a small scale robot in certain situations. And about the design of small scale robot and study also stay in the experimental stage, which is not available in the industry. Based on this, a small scale robot is designed, using D-H method（Denavit-Hartenberg） establishes the kinematics model of robot arm joint angles as variables, in this paper. Based on the kinematics model, robot track planning is carried out by using MATLAB toolbox robot（robotics, toolbox）. Through the trajectory planning, it can be got that change with each key joint angle at the end of the robot trajectory and coordinates.

关 键 词：小型机器人 运动学模型 轨迹规划 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]