基于旋量理论的五自由度焊接机器人正运动学分析研究
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摘要
基于旋量理论的运动学分析方法比采用传统的D-H法更加简化,以五自由度焊接机器人为研究对象,利用旋量理论建立五自由度焊接机器人的理论模型,通过Solidworks建立焊接机器人的虚拟样机,导入虚拟仿真软件ADAMS进行运动学分析。结果表明,ADAMS仿真能直观表达工业机器人的运动规律,同时能验证旋量理论建立的运动方程的正确性和可行性,为后续建立动力学方程、进行运动规划提供了理论基础和新方法。
The method of kinematic analysis based on screw theory is simpler than the traditional D-H method. This paper takes the5-DOF welding robot as object of study and according to screw theory,establishes its theoretical model and three dimensional model by using Solidworks software,which is imported into ADAMS software,thus making a virtual prototype of the robot,and then,uses ADAMS to do the dynamic simulation of industrial robot. The validity of kinematic equation based on the screw theory is verified. The basis can be provided for the establishing the dynamic equation and motion planning.
The method of kinematic analysis based on screw theory is simpler than the traditional D-H method. This paper takes the5-DOF welding robot as object of study and according to screw theory,establishes its theoretical model and three dimensional model by using Solidworks software,which is imported into ADAMS software,thus making a virtual prototype of the robot,and then,uses ADAMS to do the dynamic simulation of industrial robot. The validity of kinematic equation based on the screw theory is verified. The basis can be provided for the establishing the dynamic equation and motion planning.
引文
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[7]徐佳伟,王收军,葛为民,等.吸盘机械手机构设计与运动学分析[J].制造业自动化,2017,39(11):18-21.
[8]结合旋量和代数方法的工业机械臂逆运动学解法[J].机械科学与技术,2017,36(8):1224-1229.
[9]李增刚. ADAMS入门详解与实例[M].第2版.北京:国防工业出版社,2014.
[2]贾庆轩,左仲海,陈钢,等.基于旋量理论的一种分支型模块化机器人运动学建模研究[J].机械制造,2015,53(2):13-16.
[3]蔡自兴.机器人学[M].第3版.北京:清华大学出版社,2017.
[4]刘青松,袁杰,钱建华.基于旋量理论的四自由度抓取机械手奇异位形分析[J].河北工业大学学报,2016,45(2):31-35.
[5]春晨.五自由度关节型机器人运动学分析[D].西安:西安理工大学,2012.
[6]敖天翔.结合旋量和代数方法的工业机械臂逆运动学解法[J].机械科学与技术,2017,36(8):38-41.
[7]徐佳伟,王收军,葛为民,等.吸盘机械手机构设计与运动学分析[J].制造业自动化,2017,39(11):18-21.
[8]结合旋量和代数方法的工业机械臂逆运动学解法[J].机械科学与技术,2017,36(8):1224-1229.
[9]李增刚. ADAMS入门详解与实例[M].第2版.北京:国防工业出版社,2014.