基于MATLAB的五轴坡口切割机器人运动学分析与仿真  

Kinematics analysis and Simulation of five axis groove cutting robot based on MATLAB

作　　者：张雪健 胡晓兵[1,2] 蒋从军 毛业兵 ZHANG Xue-Jian;HU Xiao-Bing;JIANG Cong-Jun;MAO Y^Bing(School of Mechanical Engineering,Sichuan University,Chengdu 610065,China;Industrial Technology Research Institute of Yibin Sichuan University,Yibin 644600,China;Sinohydro Jiajiang Hydraulic Machinery Company Limited,Leshan 614100,China)

机构地区：[1]四川大学机械工程学院,成都610065 [2]宜宾四川大学产业技术研究院,宜宾644600 [3]中国水电建设集团夹江水工机械有限公司,乐山614100

出　　处：《四川大学学报（自然科学版）》2021年第6期58-66,共9页Journal of Sichuan University(Natural Science Edition)

基　　金：川大-宜宾校地合作项目(2019CDYB-13)。

摘　　要：设计了一种新型的基于机器视觉的五轴坡口切割机器人,用于满足加工平面钢材的坡口切割作业.首先,建立了五轴坡口切割机器人的SOLIWWORKS模型,验证机器人机械本体的设计是否可以满足工作要求;其次,根据SOLIDWORKS模型建立机器人的DH参数表和DH坐标简图;然后,通过机器人的齐次变换对机器人进行正运动学和逆运动学分析,从数值角度对机器人的结构合理性进行分析;最后,利用MATLAB软件对机器人进行运动学建模与仿真.用MATLAB对机器人进行运动学仿真,主要分为对机器人进行静态模型仿真,机器人的末端操作器运动空间仿真和不同路径轨迹规划下的机器人末端操作器运动仿真.通过仿真模型证明了机器人机械结构设计的可行性,为机器人控制系统和控制算法的设计提供了理论支持.In this paper, a new type of five axis groove cutting robot based on machine vision is designed to meet the reaquirements of the groove cutting operation of flat steel. First, the SOILDWORKS model of five axis groove cutting robot is established to verify whether the design of the robot mechanical body can meet the working requirements. Secondly, the DH parameter table and DH coordinate diagram of the robot is defined according to the SOILDWORKS model. Then, the forward kinematics and inverse kinematics of the robot are analyzed through the homogeneous transformation of the robot, and the rationality analysis of the robot structure is conducted from a numerical point of view.Finally, by using MATLAB software, the kinematics modeling and Simulation of the robot is carried out in this paper. The kinematics simulation of the robot is mainly divided into three parts which are the static model simulation of the robot, the motion space simulation and the motion simulation of robot end effector under different path planning. The simulation results of the designed robots in this paper demonstrates the feasibility of the robot mechanical structure design, which provides theoretical support for the design of robot control system and control algorithm.

关 键 词：五轴机器人 运动学分析 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]