摘要
目的分析机器人的连杆2(l_2)、连杆3(l_3)的长度和l_2的关节转角θ_3的角度取不同值时,机器人工作空间的变化情况。方法建立机器人的连杆坐标系,根据连杆参数表用D-H法建立机器人的运动学方程。根据运动学方程,用Matlab仿真工作空间。改变l_2和l_3的长度以及l_3的关节转角θ_3,得到连杆取不同参数时和原参数时机器人工作空间的x Oy和x Oz平面对比图,并把对比图插入AutoCAD画出对比图的边界。通过分析对比图边界的变化来研究仿真平面图形的变化。结果获得了不同参数时机器人工作空间的x Oy和x Oz仿真投影图。结论连杆参数不同时,工作空间有不同的变化,为机器人连杆参数的优化和运动控制奠定了基础。
The work aims to analyze the change of the robot＇s workspace when different length values of linkage 2 （12） and linkage 3 （13） and different joint rotation angles θ3 of 12 are taken. The linkage coordinate system of the robot was es- tablished. The kinematics equation of the robot was established in D-H method according to the linkage parameter table. Based on the kinematics equation, Matlab was used to simulate the workspace. After changing the lengths of l2 and l3 as well as the joint rotation angle θ3 of l3, the comparison chart of the xOy and xOz planes of the robot＇s workspace was ob- tained when different linkage parameters were taken. And the boundary of comparison chart was drawn after inserting the comparison chart into the AutoCAD. The change in the simulated plane figures was studied by analyzing the change in the boundary of the comparison chart. The simulated projection drawings of xOy and xOz of the robot＇s workspace were ac- quired when different parameters were taken. When the linkage parameters are different, the workspace will differ accor- dingly, which lays a foundation for linkage parameter optimization and motion control of the robot.
出处
《包装工程》
CAS
北大核心
2017年第5期63-67,共5页
Packaging Engineering
基金
"十二五"科技支撑计划(2011BAD24B01)
