基于MATLAB机器人运动学分析与仿真  

Analysis and Simulation of Robot Kinematics Based on MATLAB

作　　者：张小光 顾宏才 李公文 张文磊 ZHANG Xiaoguang;GU Hongcai;LI Gongwen;Zhang Wenlei(School of Electrical Engineering,Chuzhou Polytechnic,Chuzhou Anhui 239000,China;Wuhu Anpu Robotics Industry Technology Research Institute Co.,Ltd.,Wuhu Anhui 241000,China)

机构地区：[1]滁州职业技术学院电气工程学院,安徽滁州239000 [2]芜湖安普机器人产业技术研究院有限公司,安徽芜湖241000

出　　处：《盐城工学院学报（自然科学版）》2021年第3期27-30,共4页Journal of Yancheng Institute of Technology:Natural Science Edition

基　　金：滁州职业技术学院自然科学研究项目(YJZ-2019-15;YJY-2020-30);安徽省教育厅高校自然科学研究项目(KJ2019A1135)。

摘　　要：随着生产技术的不断提高,工业机器人已经成为衡量一个国家制造业水平的重要标志。为了研究具有高负载能力机器人的运动性能,对165 kg重载机器人进行运动学求解,再利用MATLAB中的机器人插件完成重载机器人运动模型的搭建,并进行运动过程的仿真,得到重载机器人运动过程中各关节变量与末端位姿之间的关系,从而优化重载机器人的本体结构设计,缩短机器人的研发周期,节约研发设计成本。With the continuous improvement of production technology,industrial robot has become an important symbol to measure a country's manufacturing level.In order to study the motion performance of the robot with high load capacity,the kinematics of the 165kg heavy-duty robot was solved.The robot plug-in in MATLAB was used to complete the construction of the motion model of the heavy-duty robot,and the simulation of the motion process was carried out to obtain the relationship between the joint variables and the end pose of the heavy-duty robot in the motion process.Thus,the structure design of the heavy-duty robot is optimized,the research and development cycle of the robot is shortened,and the research and development design cost is saved.

关 键 词：工业机器人 运动学 系统建模 运动仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]