六自由度机器人本体设计及轨迹规划与虚拟仿真..docx

摘 要机器人在现代工业生产制造领域的应用越来越普遍。机器人技术是当今社会国家高新技术水平的重要体现。六自由度工业机器人以其较大的工作范围，较高的灵敏度在工业机器人领域具有重要的地位。随着机器人应用在广度和深度上的发展，迫切需要解决机器人本体基础技术研究。 本文以某型号六自由度工业机器人为原型，设计出一个六自由度工业机器人，对该机器人的传动机构进行了设计，对机器人的各关节的驱动电机进行了计算选型，选取了机器人的各关节减速器，并对小臂结构进行了强度分析。为方便以后的建模计算，通过D-H方法建立机器人连杆坐标系，得到机器人末端执行器相对于机器人基座的转换矩阵，进而得到机器人运动学正解。机器人逆运动学采用机器人变换矩阵的逆矩阵进行求解，可知机器人运动学逆解有多组，通过实际工况以及机器人各关节运动范围等对逆解进行筛选。本文采用拉格朗日方法对机器人进行建模，得出机器人的动力学数学模型。机器人的轨迹规划方法有多种，本文采用三次B样条曲线对机器人进行轨迹规划。本文采用matlab对机器人工作空间进行了仿真，得出机器人的工作范围。运用matlab的机器人工具箱对机器人运动学进行了分析，得出了机器人运动学正解以及逆解。用机械系统分析软件adams简化建立了机器人参数模型，并对机器人动力学进行了分析，得到了机器人各关节的驱动力矩。本文运用matlab机器人工具箱对机器人进行了轨迹规划，从结果可以看出机器人各关节随时间的变化曲线。关键词：工业机器人；运动学；动力学；轨迹规划；虚拟仿真ABSTRACTIn the modern industrial manufacturing field industrial robot is applied more and more widely. It is an important manifestation of the national high-tech level in todays society. Six degree of freedom industrial robot with its larger scope of work，high sensitivity plays an important role in the field of industrial robots. In company with development of robot’s application in /dict_result.aspx?searchword=%e5%b9%bf%e5%ba%a6tjType=sentencestyle=t=breadthbreadth and depth, it is urgent need to address the basic technology research of the robot. In this dissertation, design a six DOF industrial robot with a model of six DOF industrial robot as prototype. The robots transmission mechanism has been designed, the calculation and selection of the driving motor are done for each joint of robot, the reducer of robot joints are selected, and analysis the?strength of small arm?structure.?For convenience of the calculation of modeling later, established the robot link coordinate system through the D-H method. The transformation matrix is got of the robot relative to the robot base, and then the forward kinematics of the robot is got. The inverse kinematics of the robot is solved ?with?inverse matrix of the robot?transformation matrix, the inverse Kinematics of?robot has many components, it is selected though the actual working condition and the