移动机器人机械臂运动分析及轨迹规划  

Motion Analysis and Trajectory Planning of Mobile Robot Manipulator

作　　者：万正海 李锻能[1] 王冲 邓君裕 WAN Zhenghai;LI Duanneng;WANG Chong;DENG Junyu(School of Electromechanical Engineering,Guangdong University of Technology,Guangzhou Guangdong 510006,China)

机构地区：[1]广东工业大学机电工程学院

出　　处：《机床与液压》2019年第23期56-60,68,共6页Machine Tool & Hydraulics

摘　　要：以自行研制的移动双臂机器人为对象,采用D-H参数建模法建立双臂机器人数学模型,利用MATLAB的Robotics toolbox工具箱建立机器人手臂关节的运动学模型,分析机器人的运动学问题和基于关节空间的轨迹规划问题。通过Solid Works建立双臂机器人的三维模型并导入Adams仿真软件,对虚拟样机模型进行动力学仿真分析。通过仿真验证了双臂机器人的设计可以满足工作性能的要求,为评价其力学指标和后续的驱动系统的硬件选型提供了重要的理论依据。Taking the self-developed mobile dual-arm robot as the object, the mathematical model of the two-arm robot is established by D-H parameter modeling method. The kinematics model of the robot arm joint was established by using the Robotics toolbox of MATLAB, and the kinematics problem and trajectory planning problem in joint space based on the robot were analyzed. The Three Dimensional (3D) model of the dual-arm robot was established by SolidWorks and imported into the Adams simulation software to simulate and analyze the virtual prototype model. The simulation proves that the design of the dual-arm robot can meet the requirements of working performance, and provides an important theoretical basis for evaluating its mechanical index and the hardware selection of the subsequent drive system.

关 键 词：双臂机器人 运动学 动力学 轨迹规划 

分 类 号：TH16[机械工程—机械制造及自动化]