基于MATLAB的H型钢切割机器人运动学分析与仿真  

Kinematics Analysis and Simulation of H-shaped Steel Cutting Robot Based on MATLAB

作　　者：曾国祥 刘志远 李进 朱珏[1,2] ZENG Cuoxiang;LIU Zhiyuan;LI Jin;ZHU Jue(Ningbo University,Zhejiang Provincial Engineering Research Center for the Safety of Pressure Vessel and Pipeline,Ningbo Zhejiang 315211,China;Key Laboratory of Impact and Safety Engineering(Ningbo University),Ministry of Education,Ningbo Zhejiang 315211,China)

机构地区：[1]宁波大学压力容器与管道安全浙江省工程研究中心,浙江宁波315211 [2]宁波大学冲击与安全工程教育部重点实验室,浙江宁波315211

出　　处：《机械设计与研究》2023年第3期79-83,88,共6页Machine Design And Research

基　　金：国家自然科学基金(11972203,11572162);宁波市自然科学基金(202003N4152)资助项目。

摘　　要：设计了一种新型的基于机器视觉的H型钢切割机器人,用于多种规格类型的H型钢端头的切割作业。建立了H型钢切割机器人的SOLIDWORKS三维模型,验证机器人机械结构的设计是否能满足工作要求;依据SOLIDWORKS三维模型建立了机器人的D-H参数表和D-H坐标简图;通过齐次变换法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结构的合理性进行分析;运用MATLAB建立机器人运动学模型以及对模型进行仿真,主要包括:机器人静态模型的仿真、机器人末端执行器运动空间的仿真和轨迹规划运动的仿真。通过仿真证明了H型钢切割机器人机械结构设计的可行性,为机器人控制算法和控制系统的设计提供了理论支持。A new type of five axis H-shaped steel cutting robot based on machine vision is designed to meet the requirements of cutting operation of various specifications H-shaped steel members.First,the SOLIDWORKS 3D model of the five axis H-shaped steel cutting robot is established to verify that the design of the robot mechanical body can meet the working requirements.Secondly,the D-H parameter table and D-H coordinate diagram of the robot are defined according to the SOLIDWORKS 3D model.Then,the forward kinematics and inverse kinematics of the robot are analyzed through the homogeneous transformation method,and the rationality analysis of the robot structure is conducted from a numerical point of view.Finally,using MATLAB software,the kinematics modeling and simulation of the robot is carried out.The 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 trajectory 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 algorithm and control system.

关 键 词：H型钢切割 机器人运动学分析 MATALB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]