基于MATLAB的气阀装配机器人运动学分析与仿真  

Kinematics Analysis and Simulation of Valve Assembly Robot Based on MATLAB

作　　者：苏放 巴鹏[1] 王浩 于帅 SU Fang;BA Peng;WANG Hao;YU Shuai(School of Mechanical Engineering,Shenyang Ligong University,Shenyang 110159,China)

机构地区：[1]沈阳理工大学机械工程学院,辽宁沈阳110159

出　　处：《机械工程与自动化》2019年第3期72-74,共3页Mechanical Engineering & Automation

摘　　要：为解决压缩机气阀装配问题,使用D-H法对气阀装配机器人进行运动学分析,构建运动学方程并对方程求解。使用MATLAB Robotics Toolbox建立机器人三维模型,并进行运动学仿真和轨迹规划。仿真结果表明运动学方程有解,机器人结构设计合理,可以平稳高效地工作,为今后气阀装配机器人的动力学分析、离线编程、动态控制等研究奠定了基础。The D-H method is used to analyze the kinematics of the valve assembly robot,construct the kinematic equation and solve the equation .The MATLAB Robotics Toolbox is used to build the 3D model of the robot,and the kinematics simulation and trajectory planning of the robot are carried out.The simulation results show that the solution of the kinematics equation is correct,the robot structure is reasonable ,and it can work smoothly and efficiently.This work may lay a foundation or future dynamic analysis,offline programming, dynamics control and other research on the robot.

关 键 词：气阀装配机器人 D-H法 轨迹规划 MATLAB 运动学仿真 

分 类 号：TP391.7[自动化与计算机技术—计算机应用技术] TP242.3[自动化与计算机技术—计算机科学与技术]