五自由度机器人打磨木椅背板的轨迹规划研究  

Trajectory planning study of a five-degree-of-freedom robot for sanding wooden chair backs

作　　者：吴哲[1] 李东林 马宁宁 黄利坚 张中弛 WU Zhe;LI Dong-lin;MA Ning-ning;HUANG Li-jian;ZHANG Zhong-chi(College of Mechatronics Engineering,Northeast Forestry University,Harbin Heilongjiang 150000,China)

机构地区：[1]东北林业大学机电工程学院,黑龙江哈尔滨150000

出　　处：《林业机械与木工设备》2023年第12期46-50,共5页Forestry Machinery & Woodworking Equipment

基　　金：黑龙江省自然科学基金项目“超薄超高密度纤维板纤维质量评价及胶合机理研究”(LH2022C009);国家重点研发计划“超薄纤维板纤维制备及均匀铺装控制系统研究”(2021YFD220060404)。

摘　　要：以五自由度打磨机器人为研究对象,采用D-H参数法建立其数学模型,并在MATLAB Robotics Toolbox工具箱中得到机器人的仿真模型;选取背板中的两个打磨点,采用逆运动学运算得到机器人的各关节角度,并在关节空间对这两个打磨点进行三次和五次多项式轨迹规划。通过仿真结果的分析比较,可知采用五次多项式轨迹规划时,机器人在运动过程中平稳、无突变,能有效地减少关节磨损和冲击振动现象的发生。In this paper,we take a five-degree-of-freedom grinding robot as the research object,and use the D-H parameter method to establish its mathematical model,and obtain the simulation model of the robot in the MATLAB Robotics Toolbox;then,we select two grinding points in the backplane,use inverse kinematic operations to obtain each joint angle of the robot,and carry out the third and fifth polynomial for these two grinding points in the joint space trajectory planning.The simulation results show that the robot moves smoothly and without abrupt changes during the motion of the robot when using five times polynomial trajectory planning,which can effectively avoid the occurrence of joint wear and shock vibration.

关 键 词：木椅背板 多项式轨迹规划 MATLAB Robotics Toolbox 运动学 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]