六自由度工业机器人的初步设计.doc

6自由度机器人机械结构设计及路径规划 摘要 近二十年来，机器人技术发展非常迅速，各种用途的机器人在各个领域 广泛获得应用。我国在机器人的研究和应用方面与工业化国家相比还有一定 的差距，因此研究和设计各种用途的机器人特别是工业机器人、 推广机器人 的应用是有现实意义的。 典型的工业机器人例如焊接机器人、喷漆机器人、装配机器人等大多是 固定在生产线或加工设备旁边作业的，本论文作者在参考大量文献资料的基 础上，结合任务书的要求，设计了一种小型的实现移动的六自由度串联机器 人。 首先，作者针对机器人的设计要求提出了多个方案，对其进行分析比较，选择其中最优的方案进行了结构设计；同时进行了运动学分析，用 D- H 方法建立了坐标变换矩阵，推算了运动方程的正、逆解。 机器人广泛应用于工业、农业、医疗及家庭生活中，工业机器人主要应 用领域有弧焊、点焊、装配、搬运、喷漆、检测、码垛、研磨抛光和激光加 工等复杂作业。总之，工业机器人的多领域广泛应用，其发展前景广阔。 关键词：机器人关节，运动学分析，工业机器人，自由度CONSTRUCTION DESIGN、KINEMATICS ANALYSIS OF SIX DEGREE OF FREEDOM ROBOT ABSTRACT In the past twenty years, the robot technology has been developed greatly and used in many different fields. There is a large gap between our country and the developed countries in research and application of the robot technology so that there will be a great value to study , design and applied different kinds of robots, especially industrial robots. Most typical industrial robots such as welding robot, painting robot and assembly robot are all fixed on the product line or near the machining equipment when they are working. Based on larger number of relative literatures and combined with the need of project, the author have designed a kind of small-size serial robot with 6 degree of freedom which can be fixed on the AGV to construct a mobile robot. First of all, several kinds of schemes were proposed according to the design demand. The best scheme was chosen after analysis and comparing and the structure was designed. At same time, The kinematics analysis was conducted, coordinate transformation matrix using D - H method was set up, and the kinematics equation direct solution and inverse solution was deduced, robots are widely used in industry, agriculture, medical and family life, the main application areas of industrial robot are complex operations includes welding, spot welding, assembly, handling, painting, inspection, palletizing, grinding polishing and Laser processing etc. In one word, the development prospects of widely used in many