四关节机器人结构设计及运动学分析  

Structural Design and Kinematic Analysis of Four Joint Robot

作　　者：刘凯 刘亚如 LIU Kai;LIU Yaru(Efort Intelligent Equipment Co.,Ltd.,Wuhu,Anhui 241000,China)

机构地区：[1]埃夫特智能装备股份有限公司,安徽芜湖241000

出　　处：《自动化应用》2024年第11期64-66,70,共4页Automation Application

基　　金：安徽省科技重大专项资助项目(202203a05020007)。

摘　　要：通过研究SCARA机器人的运动构型,针对其运动空间范围局限性的缺点,设计了一种新的运动构型的四关节机器人,将直线运动由布置在第三关节设计到机器人的第一关节上,实现整体的上下运动,进而扩大机器人的运动范围。基于三维模型坐标系和D-H参数法,研究机器人的运动学模型,通过分析机器人的运动学正解、逆解,验证所设计结构的合理性,在此基础上研究机器人关节空间的轨迹规划形式,验证机器人运行的平稳性,为后续样机的制造提供一定理论依据。By studying the motion configuration of SCARA robots and addressing the limitations of their motion space range,a new motion configuration of a four joint robot is designed.Linear motion is arranged from the third joint to the first joint of the robot,achieving overall up and down motion and expanding the robot's motion range.Based on the three-dimensional model coordinate system and D-H parameter method,the kinematic model of the robot is studied.By analyzing the forward and inverse kinematics of the robot,the rationality of the designed structure is verified.On this basis,the trajectory planning form of the robot's joint space is studied to verify the smoothness of the robot's operation,providing a certain theoretical basis for the subsequent prototype manufacturing.

关 键 词：工业机器人 结构设计 运动学分析 

分 类 号：TH122[机械工程—机械设计及理论] TP31[自动化与计算机技术—计算机软件与理论]