摘要
在充分调研国内外先进机器人构型设计的基础上,设计出一种基于UG三维建模的七自由度机器人。基于D-H矩阵理论,建立了七自由度机器人的正运动学方程。基于MATLAB软件,采用了随机抽样的数值方法。针对本体结构和运动方式特征,分析了七自由度机器人的工作空间,得到了其末端的工作空间点云图。仿真结果表明,用蒙特卡洛法分析七自由度机器人的工作空间变化平缓,无突兀现象,从而验证了结构设计的合理性,对其后期的结构及其控制系统的优化设计提供了依据。
On the basis of the full investigation of advanced welding robot configuration design,designed a 7-DOF welding robot based on UG three-dimensional modeling.The forward equation of kinematics was built based on the D-H matrix according to the body structure and motion features of 7-DOF welding robots.The workspace of manipulator was analyzed by numerical methods for random sampling.The cloud picture was completed based on MATLAB.Simulation results showed that the experimental results indicated that by using numerical methods for random sampling the analysis of weld robot workspace changed smoothly without impact,which confirmed the reasonableness of structural design,and provided the basis for optimal design of robot control system and structural design of the latter.
出处
《新技术新工艺》
2014年第5期21-24,共4页
New Technology & New Process
作者简介
徐小龙（1988-），男，硕士研究生，主要从事机器人技术等方面的研究。
通信作者：王殿君
