文档介绍：摘要
在机器人的研究与设计中,运动学系统,如运动学方程的正解、运动学方程的逆解、运动轨迹的规划,在国内外一直处于研讨之中。本文通过软件实现对焊接机器人运动学系统的三维图形仿真。目前有很多软件都可以进行机器人的运动和动力学仿真,如Matlab里的Robotics toolbox,SimMechanics;OpenGL;
ADAMS等。本文所采用的是MDI公司的ADAMS软件,因为该软件对运动学和动力学有着强大的分析功能,并可以输出位移、速度、加速度曲线,方便对数据的进行分析。
本文首先对机器人发展过程及应用作了简单介绍。对焊接机器人的发展过程和研究现状作了详细阐述,并说明了离线编程技术。
其次对机器人进行理论的分析,如连杆的描述,连杆与连杆之间的描述,坐标系的建立,在此基础上,将机器人模型建立在D一H坐标系下,进行正逆运动学的分析。
再次对机器人的轨迹规划进行了阐述。在机械手运动学和动力学的基础上,讨论在关节空间和笛卡儿空间中机器人运动的轨迹规划和轨迹生成方法。分别讨论了在这两种空间下对于不同运动方式的规划方法,并且分析了这两种方法各自的优缺点。
最后运用MATLAB里的Robotics toolbox工具箱对机器人进行运动学的逆解,通过点对点的运动方式,并作了简单的轨迹规划。目的是要将Matlab所得的结果导入到ADAMS中,进行更加真实的三维图形的仿真,并对仿真的结果进行分析。
关键词:焊接机器人;D-H法则;运动学;轨迹规划;运动学仿真。
Abstract
In robot research and design, kinematics system, such as the solution of the positive and inverse kinematics, the trajectory of specification, is being discussed at home and abroad. In this article,we use the software to make the simulation for the kinematics of the welding robot. At present, there are a lot of softwares can make the kinematics and dynamic simulation,such as Robotics toolbox,SimMechanics which in ,ADAMS and so article used ADAMS by the MDI,as this sofeware has powerful functions in the kinematics and dynamics analysis,and which can output displacement, velocity and acceleration ’s facilitate to analyse the data.
First,this article introduces the development process and application of robot,and presents the development and current study situation of weldingrobot in some robot off-line programming technology has also been discussed.
Second, it analyzes the theory of the this basis,the robot model is builded in the D-H coordinate system to analyse the positive and inverse kinematics.
Third,the trajectory specification of robot is also discussed the method of trajectory specification and trajectory generating both in joint coordinates space and Cartesian coordinates space based on the kinematics of robot. The specification methods of different movin