六自由度机器人的运动学分析及码垛轨迹规划  

Kinematics Analysis and Palletizing Trajectory Planning of 6-DOF Robot

作　　者：孙阳 杨先海[1] 代瑞恒 陈晓虎 谭帅[2] 薛鹏[2] SUN Yang;YANG Xianhai;DAI Ruiheng;CHEN Xiaohu;TAN Shuai;XUE Peng(School of Mechanical Engineering,Shandong University of Technology,Zibo Shandong 255049,China;Shengli Oilfield Plateau Petroleum Equipment Co.,Ltd.,Dongying Shandong 257000,China)

机构地区：[1]山东理工大学机械工程学院,山东淄博255049 [2]胜利油田高原石油装备有限公司,山东东营257000

出　　处：《机床与液压》2021年第21期33-37,共5页Machine Tool & Hydraulics

基　　金：国家自然科学基金(5207050104)。

摘　　要：现如今生产过程中的码垛场景多为专用的四自由度码垛机器人,通用性和灵活性较差。为提高码垛过程中机器人的通用性和灵活性,实现六自由度串联机器人的码垛,根据改进D-H法,在UR5机器人各关节末端建立固连坐标系,推导出UR5的正运动学变换矩阵及逆运动学各关节表达式。使用梯形速度控制,确定了码垛过程中直线轨迹部分的运动规律,得到了码垛过程中圆弧轨迹部分的坐标转换关系及机器人末端运动过程。在空间中规划出码垛时机器人末端轨迹,并进行仿真。绘制了各关节运动曲线,表明机器人在码垛过程中轨迹平滑,运行平稳,对六自由度串联机器人的码垛研究具有参考意义。Nowadays,special-purpose 4-DOF palletizing robots are mostly used in palletizing scenes in production process,which have poor versatility and flexibility.In order to improve the generality and flexibility of the robot in palletizing process and to real⁃ize palletizing of 6-DOF serial robot,according to the modified D-H method,a fixed coordinate system was established at the end of each joint of UR5 robot,and the forward kinematics transformation matrix and inverse kinematics expression of UR5 were derived.By using trapezoidal speed control,the motion law of the linear track part in the palletizing process was determined,the coordinate conver⁃sion relationship of the arc track part and the moving process of the robot end in the palletizing process were determined.The end traj⁃ectory of the robot was planned in space and simulated.The motion curves of each joint were drawn,indicating that the robot run smoothly in the palletizing process.It has reference significance for the research of palletizing of 6-DOF serial robot.

关 键 词：UR5机器人 码垛 改进D-H法 笛卡尔空间轨迹规划 

分 类 号：TH113.22[机械工程—机械设计及理论]