本文選題：復(fù)合機(jī)器人　切入點(diǎn)：棉桶更換　出處：《組合機(jī)床與自動(dòng)化加工技術(shù)》2016年12期

【摘要】：文章以棉桶更換復(fù)合機(jī)器人為研究對(duì)象,根據(jù)研究作業(yè)工藝需要,建立了作業(yè)平面坐標(biāo)系;采用D-H算法建立復(fù)合機(jī)器人抓握棉桶運(yùn)動(dòng)數(shù)學(xué)模型,運(yùn)用MTALAB軟件獲得棉桶作業(yè)空間軌跡集合;利用Robotics Toolbox工具箱建立復(fù)合機(jī)器人仿真模型,進(jìn)行軌跡規(guī)劃。對(duì)仿真結(jié)果分析表明,作業(yè)空間軌跡集合包含了棉桶更換作業(yè)規(guī)定的作業(yè)路徑,末端運(yùn)行軌跡連續(xù)平滑,各關(guān)節(jié)運(yùn)動(dòng)平穩(wěn),無(wú)干涉,滿(mǎn)足棉桶搬運(yùn)與更換作業(yè)要求。
[Abstract]:This paper takes the cotton bucket replacement robot as the research object, establishes the coordinate system of the operation plane according to the need of the research work technology, establishes the mathematical model of the grasping cotton bucket motion of the composite robot by using D-H algorithm.The MTALAB software is used to obtain the space track set of cotton bucket, and the Robotics Toolbox toolbox is used to build the simulation model of the composite robot to carry out trajectory planning.The analysis of the simulation results shows that the operation space track set includes the operation path stipulated by the cotton bucket replacement operation, the running track of the end is continuous and smooth, the motion of the joints is stable, and there is no interference, which meets the requirements of the cotton bucket handling and replacement operation.
【作者單位】： 山東科技大學(xué)機(jī)械電子工程學(xué)院;
【基金】：青島市科技計(jì)劃項(xiàng)目(QDKJX-201305-066)
【分類(lèi)號(hào)】：TP242

【相似文獻(xiàn)】

相關(guān)期刊論文 前1條

1 牛元會(huì);程光明;楊志剛;;D-H坐標(biāo)系下機(jī)械手正向運(yùn)動(dòng)學(xué)分析[J];機(jī)械工程師;2006年07期

，

本文編號(hào)：1727204