轻型六自由度工业机器人设计与运动学分析  

Design and Kinematics Analysis of Lightweight 6-DOF Industrial Robot

作　　者：祝洲杰[1] 吴锂力 许林杰 刘顺利 Zhu Zhoujie;Wu Lili;Xu Linjie;Liu Shunli(Zhejiang Institute of Mechanical&Electrical Engeering,Hangzhou 310053,China;Zhejiang Eastpower Machinery Equipment Co.,Ltd.,Huzhou,Zhejiang 313300,China)

机构地区：[1]浙江机电职业技术学院,杭州310053 [2]浙江中力机械有限公司,浙江湖州313300

出　　处：《机电工程技术》2020年第11期180-183,共4页Mechanical & Electrical Engineering Technology

基　　金：浙江省高校访问工程师校企合作项目(FG2019067)。

摘　　要：机器人是工业自动化控制领域中常用的机械产品之一,且越来越受到企业重视。基于企业的实际需求研发了一种轻型六自由度机器人,对其进行了结构及参数设计,且基于Arduino开发环境为其设计了控制系统,并详细分析了该机器人的运动学问题,基于D-H参数建模法确定了各关节坐标系及参数表,对其正、逆解进行了求解运算。研究和使用结果表明了该机器人性能稳定且成本较低,能达到预定的目标,且可用于其他多种用途。Industrial robot is one of the most commonly used mechanical products in the field of industrial automation control,and is increasingly valued by companies.A lightweight 6-DOF robot was designed based on corporate needs.Its structural parameters and control system based on the Arduino development environment were designed,and the kinematics of the manipulator was analyzed in detail,each coordinate and parameters were determined based on the D-H parametric modeling method,and the solution of arm kinematrc and inverse kinematrics was solved.The results show that the robot has stable performance and low cost,can achieve the intended target and can be used for a variety of other applications.

关 键 词：工业机器人 结构设计 运动学 D-H建模 控制系统 

分 类 号：TH112[机械工程—机械设计及理论]