四自由度工业机器人运动学分析与仿真  

Kinematics Analysis and Simulation of 4-DOF Industrial Robot

作　　者：张洪波 孟丹 潘宜斌 冯宝林 岳亮亮 李磊 ZHANG Hong-bo;MENG Dan;PAN Yi-bin;FENG Bao-lin;YUE liang-liang;LI Lei(Changzhou Institute of Advanced Manufacturing Technology,Jiangsu 213164,China;Hefei Gutai Automation Co.,Ltd.,Hefei Changzhou 230051,China)

机构地区：[1]常州先进制造技术研究所,江苏常州213164 [2]合肥固泰自动化有限公司,合肥230051

出　　处：《装备制造技术》2021年第2期17-19,47,共4页Equipment Manufacturing Technology

基　　金：安徽省科技重大专项项目(17030901028)。

摘　　要：以高粉尘环境下四自由度工业机器人为研究对象,利用D-H法建立机器人运动学方程,求出其位置的解析解,利用solidworks软件建立机器人的三维虚拟样机,并用recurdyn软件进行了运动学仿真验证。Taking the industrial robot with four degrees of freedom in high dust environment as the research object,the kinematics equation of the robot was established by D-H method,and the analytical solution of its position was obtained. The 3D virtual prototype of the robot was established by SolidWorks software,and the kinematics simulation was carried out with RecurDyn software.

关 键 词：工业机器人 运动学分析 运动学仿真 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]