移摆送料机器人的运动学逆解研究  

Research on the Inverse Kinematics Solution of the Moving Pendulum Feeding Robot

作　　者：张乾 曲一兵[1] 昃向博[1] ZHANG Qian;QU Yibing;ZE Xiangbo(School of Mechanical Engineering,University of Jinan,Jinan 250022)

机构地区：[1]济南大学机械工程学院,济南250022

出　　处：《现代制造技术与装备》2020年第2期46-48,53,共4页Modern Manufacturing Technology and Equipment

摘　　要：以移摆送料机器人为研究对象,建立机器人的运动学方程,采用蒙特卡洛法进行机器人工作空间仿真分析.针对其逆解存在的多解问题,采用封闭解法与遗传算法相结合的机器人逆运动学求解方法进行逆解的分析求解.研究表明,该方法求得的机器人末端位置精度误差不超过0.05mm,满足机器人运行轨迹的精度要求.Taking the mobile pendulum feeding robot as the research object,the kinematics equation of the robot is established,and the Monte Carlo method is used to simulate the workspace of the robot.Aiming at the multi solution problem of the inverse solution,the closed solution and genetic algorithm are used to solve the inverse kinematics of the robot,and the analysis and solution of the inverse solution are carried out.The research shows that the precision error of the robot end position obtained by this method is less than 0.05mm,which meets the precision requirements of the robot running track.

关 键 词：机器人 工作空间仿真 运动学逆解 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]