工业机器人机械本体模块化设计

发布时间：2018-02-07 15:34

本文关键词： 工业机器人模块化设计工作空间二次开发　出处：《中国机械工程》2016年08期 　论文类型：期刊论文

【摘要】：基于工业机器人机械本体模块化设计思想,以机器人的结构功能分解为基础,创建了标准机械结构模块库并实现了模块的自动装配。将人体手臂参数作为标准结构模块缩放的内置参数,建立了尺寸不同、功能相似的扩展结构模块库。基于边界曲线的几何特征对工作空间进行了类型划分,并依据关键点位置分析法及改进的CAD变量几何法将工作空间求解模块化。将坐标系模块库生成的D-H参数作为各模块的共享数据,实现了运动学与工作空间的自动求解。以库卡机器人KR6-2的正运动学与工作空间模块化自主求解为例,对比分析软件运行结果与理论计算结果,验证了该方法可满足机器人柔性化自主设计需求。
[Abstract]:Based on the modular design idea of industrial robot mechanical ontology, based on the structure and function decomposition of the robot, The standard mechanical structure module library is created and the automatic assembly of the module is realized. The parameters of the human arm are used as the built-in parameters of the standard structure module, and the dimensions are different. Extended structure module library with similar functions. Based on the geometric features of boundary curves, the workspace is divided into different types. According to the key point position analysis method and the improved CAD variable geometry method, the workspace is solved by modularization. The D-H parameter generated by the coordinate system module library is taken as the shared data of each module. The automatic solution of kinematics and workspace is realized. Taking the positive kinematics of Kuka robot KR6-2 and modular autonomous solution of workspace as an example, the results of software operation and theoretical calculation are compared and analyzed. It is verified that this method can meet the requirement of flexible autonomous design of robot.
【作者单位】：燕山大学;
【基金】：国家科技重大专项(2010ZX04004-112-2)
【分类号】：TP242.2

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