码垛机器人连杆参数的变化对工作空间的影响

发布时间：2018-05-21 03:41

本文选题：码垛机器人 + 工作空间　；参考：《包装工程》2017年05期

【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。
[Abstract]:Aim to analyze the variation of robot workspace when the length of the robot's connecting rod 2L / L _ 2, connecting rod _ 3s _ 3) and the angle 胃 _ 3 of the joint of L _ s _ 2 are obtained. Methods the coordinate system of the robot was established, and the kinematics equation of the robot was established by D-H method according to the connecting rod parameter table. According to the kinematics equation, the workspace is simulated with Matlab. By changing the length of L _ S _ 2 and L _ S _ 3 and the joint angle 胃 _ 3 of L _ S _ 3, the X _ O _ y and x _ O _ z plane contrasts of the robot's workspace are obtained when the connecting rod takes different parameters and the original parameters are taken, and the contrast diagram is inserted into the AutoCAD to draw the boundary of the contrast diagram. The change of simulation plane graph is studied by analyzing the change of contrast graph boundary. Results the X O y and x O z simulation projection diagrams of the robot workspace with different parameters are obtained. Conclusion the workspace varies with different connecting rod parameters, which lays a foundation for the optimization and motion control of robot connecting rod parameters.
【作者单位】：河北工业大学;天津商业大学;
【基金】：“十二五”科技支撑计划(2011BAD24B01)
【分类号】：TP242

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