五自由度工业机器人运动学分析与仿真

发布时间：2018-02-13 19:39

本文关键词： 5R工业机器人运动学分析轨迹规划 MATLAB ADAMS　出处：《安徽理工大学》2017年硕士论文　论文类型：学位论文

【摘要】：工业机器人技术的发展变的越来越快,其应用领域也越来越广泛。因此对于工业机器人的研究将变的越来越重要。而现如今推进工业机器人研究发展的重要手段就是机器人仿真技术。本文以一种五自由度工业机器人为研究对象,对其进行运动学理论分析及仿真研究,并对其进行了轨迹规划仿真研究。首先阐述了机器人运动学的数理基础。介绍了机器人的位姿描述,齐次变换及运算,以及机器人运动学的D-H表示法,为后期建立工业机器人运动学方程以及构建机器人连杆坐标系奠定基础。其次根据本次研究的五自由度工业机器人的结构尺寸,运用D-H表示法建立机器人连杆坐标系。然后利用齐次变换法构建了五自由度机器人的运动学数学方程。对该机器人的正向运动学方程和逆向运动学方程进行求解。再次根据D-H表示法建立的连杆坐标系。利用MATLAB软件平台的Robotics Toolbox机器人工具箱对工业机器人进行模型的构建。在该模型的基础上进行了运动学正逆解的仿真计算。然后对工业机器人进行轨迹规划与仿真。本文主要是对关节空间的轨迹规划方法进行了研究。利用MATLAB对机器人进行特定两点之间的仿真,使其以特定的轨迹完成运动。在轨迹规划仿真过程中,得到其运动过程中相关参数的曲线数据,为实体机器人的设计提供了参考数据。最后对ADAMS仿真软件进行了简单介绍。由于ADAMS软件很难建立复杂的实体三维模型,利用Solidworks平台来建立工业机器人的模型并对模型进行了一定的简化并将模型以Parasolid格式输出。把此文件导入到ADAMS平台,在ADAMS/View模块中,设置工作环境,修改实体模型,创建运动约束,完成虚拟样机的构建。对该虚拟样机进行运动学仿真分析,得到机器人末端位移随时间的变化曲线,以及各个关节角的位移,速度,加速度随时间的变化曲线。通过所得到的相关参数的曲线数据,对机器人运动情况得到深入了解。同时得到机器人末端分别在X轴,Y轴,Z轴上的位移随时间的变化曲线。将上述曲线与各个关节角位移的变化曲线合并到一个图表上。由此可得到仿真过程中任一时刻关节角与末端位姿的变化关系,从而完成了对运动学方程解的验证。
[Abstract]:The development of industrial robot technology is getting faster and faster. Therefore, the research of industrial robot will become more and more important. Now, the important means to promote the research and development of industrial robot is robot simulation technology. From the industrial robot as the research object, The kinematics theory analysis and simulation research are carried out, and the trajectory planning simulation is carried out. Firstly, the mathematical basis of robot kinematics is expounded, and the position and pose description, homogeneous transformation and operation of the robot are introduced. The D-H representation of robot kinematics lays the foundation for establishing kinematics equation of industrial robot and constructing robot connecting rod coordinate system. Secondly, according to the structure size of industrial robot with five degrees of freedom, The kinematics mathematical equation of the robot with five degrees of freedom is constructed by using the homogeneous transformation method. The forward kinematics equation and the inverse kinematics equation of the robot are solved. The model of industrial robot is constructed by using the Robotics Toolbox robot toolbox of MATLAB software platform, and the kinematics forward and inverse solution is simulated on the basis of the model. Then, the trajectory planning and simulation of industrial robot are carried out. In this paper, the trajectory planning method of joint space is studied. The robot is simulated by MATLAB between two specific two points. In the course of trajectory planning simulation, the curve data of relevant parameters in the course of trajectory planning are obtained. This paper provides reference data for the design of solid robot. Finally, the ADAMS simulation software is introduced briefly. Because ADAMS software is difficult to set up complex solid 3D model, The model of industrial robot is established by using Solidworks platform, and the model is simplified and exported in Parasolid format. The file is imported into ADAMS platform. In the ADAMS/View module, the working environment is set up, the entity model is modified, and the motion constraint is created. The kinematics simulation analysis of the virtual prototype is carried out, and the displacement curve of the robot end with time, the displacement and velocity of each joint angle are obtained. Acceleration versus time curve. Through the obtained curve data of related parameters, At the same time, the displacement curves of the end of the robot on the X axis and Y axis Z axis are obtained. The above curve is combined with the curve of the angular displacement of each joint into one diagram. The relation between the angle of the joint and the pose of the end of the joint can be obtained at any time during the simulation. Thus, the solution of kinematics equation is verified.
【学位授予单位】：安徽理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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