缝纫机器人工作空间分析  

Analyzing Workspace of Sewing Robot

作　　者：王晓华[1] 王育合 王文杰 王进 陶庆 Wang Xiaohua;Wang Yuhe;Wang Wenjie;Wang Jin;Tao Qing(School of Electronics and Information,Xi′an Polytechnic University,Xi′an 710048,China)

机构地区：[1]西安工程大学电子信息学院,西安710048

出　　处：《机械科学与技术》2020年第8期1217-1221,共5页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(51607133);教育部工程科技人才培养研究项目(18JDGC029);陕西省科技厅工业攻关项目(2016GY-136);纺织工业联合会科技指导性计划项目(2018098)资助。

摘　　要：为确定符合缝纫机结构条件的缝纫机器人工作空间,提高机器人缝纫作业前的规划效率,应用旋量法建立运动学模型,并使用Adams软件验证了所建运动学模型的正确性。采用蒙特卡洛法结合控制变量法分析具有区域限制性的工作空间,确定出机器人各关节在实际工作环境中最佳的转角范围。利用MATLAB仿真得到机器人自由与受限情况下的工作空间云图,对比结果表明所确定的关节转角范围满足机器人实际的工作空间要求。In order to determine the sewing robot′s workspace so as to meet its structural conditions and to improve the planning efficiency before its operation,its kinematics model is established with the screw theory.The correctness of the kinematic model is verified with the Adams software.The Monte Carlo method together with the control variable method is used to analyze the workspace that has regional restrictions and to determine the optimal range of rotation angles for each joint of the sewing robot in its actual working environment.The free and limited conditions of the cloud map of its workspace are simulated with the MATLAB.The simulation results show that the joint rotation angle range determined in this paper satisfies the actual workspace requirements of the sewing robot and provides a theoretical basis for the follow-up research of it.

关 键 词：缝纫机器人 旋量法 运动学 工作空间 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]