基于D-H算法的棉桶更换复合机器人运动学建模与仿真分析

发布时间：2018-04-09 16:21

本文选题：复合机器人　切入点：棉桶更换　出处：《组合机床与自动化加工技术》2016年12期

【摘要】：文章以棉桶更换复合机器人为研究对象,根据研究作业工艺需要,建立了作业平面坐标系;采用D-H算法建立复合机器人抓握棉桶运动数学模型,运用MTALAB软件获得棉桶作业空间轨迹集合;利用Robotics Toolbox工具箱建立复合机器人仿真模型,进行轨迹规划。对仿真结果分析表明,作业空间轨迹集合包含了棉桶更换作业规定的作业路径,末端运行轨迹连续平滑,各关节运动平稳,无干涉,满足棉桶搬运与更换作业要求。
[Abstract]:This paper takes the cotton bucket replacement robot as the research object, establishes the coordinate system of the operation plane according to the need of the research work technology, establishes the mathematical model of the grasping cotton bucket motion of the composite robot by using D-H algorithm.The MTALAB software is used to obtain the space track set of cotton bucket, and the Robotics Toolbox toolbox is used to build the simulation model of the composite robot to carry out trajectory planning.The analysis of the simulation results shows that the operation space track set includes the operation path stipulated by the cotton bucket replacement operation, the running track of the end is continuous and smooth, the motion of the joints is stable, and there is no interference, which meets the requirements of the cotton bucket handling and replacement operation.
【作者单位】：山东科技大学机械电子工程学院;
【基金】：青岛市科技计划项目(QDKJX-201305-066)
【分类号】：TP242

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