基于MATLAB的MC2000机器人运动分析与仿真  

Kinematics Analysis and Simulation of MC2000 Robot Based on MATLAB

作　　者：刘晓刚[1,2] 高文博[1] 吴俊辰 郑利华 LIU Xiaogang;GAO Wenbo;WU Junchen;ZHENG Lihua(School of Mechanical and Automotive Engineering,Guangxi University of Science and Technology,Liuzhou 545000,China;School of Automotive Engineering,Guilin University of Aerospace Technology,Guilin 541000,China)

机构地区：[1]广西科技大学机械与汽车工程学院,广西柳州545000 [2]桂林航天工业学院汽车工程学院,广西桂林541000

出　　处：《机械工程师》2022年第7期18-21,共4页Mechanical Engineer

基　　金：广西创新驱动发展重大专项基金项目(AA18242049);桂林市科技创新基金“机器人工程应用重点实验室建设”项目(20190206-2)。

摘　　要：针对工业机器人运动学基本理论,以MOTOMAN MC2000机器人为研究对象,利用Craig的D-H方法建立连杆坐标系,将D-H参数代入Robotics Toolbox工具箱构建机器人模型,求解运动学方程,验证仿真模型的准确性。利用蒙特卡罗法求出该型号机器人工作空间的云点图,针对机器人点到点工作路径的连续性,引入五次多项式插值法,使运行轨迹平稳合理,为该机器人后续的运动学研究提供思路。According to the basic kinematics theory of industrial robots,taking MOTOMAN MC2000 robot as the research object,Craig’s D-H method(Denavit-Hartenberg method) is used to establish the linkage coordinate system,and D-H parameters are substituted into the Robotics Toolbox to build a robot model,and the kinematics equations are solved to verify the accuracy of the simulation model.Monte Carlo method is used to get the cloud map of the workspace of this type of robot.Aiming at the continuity of the point-to-point working path of the robot,the quintic polynomial interpolation method is introduced to make the running track stable and reasonable,which provides ideas for the follow-up kinematics research of the robot.

关 键 词：工业机器人 运动学分析 MATLAB仿真 轨迹规划 

分 类 号：TP391.7[自动化与计算机技术—计算机应用技术] TP242.2[自动化与计算机技术—计算机科学与技术]