双机器人协调系统中的碰撞问题研究

发布时间：2018-04-02 14:20

本文选题：双机器人　切入点：协调运作　出处：《机械传动》2017年11期

【摘要】：针对多自由度双机械臂在同一工作空间协调运作时可能发生碰撞的问题,建立机器人包络简化模型,将关节简化为球体包络,连杆简化为圆柱体包络,通过对双机械臂所简化的包络模型进行干涉检查,提出空间点与点、点到线段以及异面两条线段的最短距离计算方法,将所用到的检测算法在VC++中实现,并将Staubli六轴双机器人模型应用到SolidWorks中进行仿真,实验结果验证了该算法的可行性。
[Abstract]:In order to solve the problem of collision of multi-degree-of-freedom double manipulator in the same workspace, a simplified model of robot envelope is established, in which the joint is simplified as a spherical envelope, and the connecting rod is simplified as a cylindrical envelope.Based on the interference checking of the simplified envelope model of the double manipulator, the method of calculating the shortest distance between the space point and the point, the point to line segment and the two different plane line segments is proposed. The detection algorithm is implemented in VC.The Staubli six-axis two-axis robot model is applied to SolidWorks simulation, and the experimental results verify the feasibility of the algorithm.
【作者单位】：江南大学机械工程学院;江苏省食品先进制造装备技术重点试验室;
【基金】：国家自然科学基金(51575236)
【分类号】：TP242

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