| 骑座相贯线焊接机器人运动学分析及仿真 |
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| 引用本文： | 李晓辉,汪苏.骑座相贯线焊接机器人运动学分析及仿真[J].北京航空航天大学学报,2008,34(8):964-968. |
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| 作者姓名： | 李晓辉 汪苏 |
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| 作者单位： | 北京航空航天大学 机械工程及自动化学院, 北京 100191 |
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| 摘 要： | 针对复杂相贯线曲线机器人自动焊接的特殊要求,开发了骑座式相贯线焊接机器人,并通过对机器人结构进行合理简化建立了机器人的D-H连杆坐标系.根据D-H连杆坐标系,推导了机器人的运动学正解方程和逆解方程,并结合机器人关节变量的取值范围,确定了逆解的唯一性.然后通过Matlab仿真软件对机器人的运动学进行了仿真,结果表明所得的机器人正、逆运动学方程完全正确.仿真误差表明所得结果完全可以满足工程需要,为相贯线焊接机器人的轨迹控制和离线编程提供了依据和算法支持.
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| 关 键 词： | 相贯线 焊接机器人 运动学仿真 |
| 收稿时间： | 2007-07-18 |
Kinematic analysis and simulation of saddle-back coping welding robot |
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| Li Xiaohui,Wang Su.Kinematic analysis and simulation of saddle-back coping welding robot[J].Journal of Beijing University of Aeronautics and Astronautics,2008,34(8):964-968. |
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| Authors: | Li Xiaohui Wang Su |
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| Institution: | School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China |
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| Abstract: | Aiming at the special request of complicated intersection line robot welding,a kind of saddle-back coping welding robot was presented,which has five axes.The robot mechanistic structure was reduced essentially and rationally.The five-axis robot D-H(Denavit-Hartenberg) links' coordinates were established with the reduced robot mechanistic structure.Then the forward solution and the inverse kinematics equations were built according to D-H links' coordinates.The singular solution of inverse kinematics equation... |
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| Keywords: | intersection line welding robot kinematic simulation |
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