六自由度加油机器人运动特性分析

摘要

针对设计的六自由度加油机器人,以D-H坐标系理论为基础并建模,对机器人进行了运动学分析.在SolidWorks中建立了机器人三维模型,并根据规划的运动轨迹进行了运动特性分析,得到了各个关节角度、角速度及角加速度随时间变化的曲线.曲线变化平稳,无突变现象,表明加油机器人运动平稳,没有出现较大振动,从而也验证了结构设计的合理性,为机器人控制系统设计提供依据.%Based on the D-H coordinate system theory and modeling, the kinematics analysis of the robot is carried out for the six-DOF refu-eling robot. The three-dimensional model of the robot is established in SolidWorks, and the motion characteristics are analyzed according to the planned trajectory. The curves of the joint, angular velocity and angular acceleration are obtained with time, and the curve changes smoothly and no mutation phenomenon. The results show that the refueling robot moves smoothly and does not show great vibration, which also validates the rationality of the structural design and provides the basis for the optimal design of the robot control system.