六自由度工业搬运机器人的运动特性分析及仿真研究  

Analysis and Simulation of the Motion Characteristics of a 6-DOF Industrial Handling Robot

作　　者：王哲 孟广耀 孙英暖 王维信 WANG Zhe;MENG Guangyao;SUN Yingnuan;WANG Weixin(School of Mechanical and Automotive Engineering,Qingdao University of Technology,Qingdao 266520,China)

机构地区：[1]青岛理工大学机械与汽车工程学院,山东青岛266520

出　　处：《机械》2021年第2期32-41,共10页Machinery

基　　金：国家自然基金项目(51175276)。

摘　　要：针对目前国内外移动关节在多自由度机器人上研究和应用较少的现状,本文设计了一款具有移动关节的六自由度机器人并将其应用于工业搬运作业。利用MD-H法建立该机器人的运动学模型,并推导出它的正逆运动学公式。在MATLAB软件的Robotics Toolbox平台下建立该机器人的仿真模型对正逆运动学公式进行验证并运用蒙特卡洛法生成它的工作空间点云图。仿真结果表明,该机器人的工作空间变化平缓且无明显空腔,从而说明机器人结构设计的合理性。最后对其轨迹进行分析并生成各关节变量和笛卡尔坐标分量随时间的变化曲线。In view of the lack of the research and application of mobile joints at home and abroad on multi-degree-of-freedom robots,a six-degree-of-freedom robot with mobile joints is designed and applied to industrial handling operations.The kinematics model of the robot is established by MD-H method,and its forward and inverse kinematics formulas are derived.The simulation model of the robot is built on the Robotics Toolbox platform of MATLAB software to verify the forward and inverse kinematics formulas and its workspace point cloud image is generated through the Monte Carlo method.The simulation result shows that the working space of the robot changes smoothly and there is no obvious cavity,which demonstrates the rationality of the structural design of the robot.Finally,the trajectory is analyzed and the time-varying curve of each joint variable and Cartesian coordinate component is generated.

关 键 词：移动关节 运动学 蒙特卡洛 工作空间 轨迹分析 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]