模块化协作机器人运动特性分析及动力学仿真研究

摘要

针对UR10模块化协作机器人的构型特点,采用D-H坐标变换法建立其运动学坐标系,采用逆变换法对机器人进行逆运动学求解,求得各个关节转角.运用拉格朗日法对UR机器人进行动力学分析,利用ADAMS多体动力学仿真软件对其进行动力学仿真.结果证明,该模块化协作机器人具有良好的静态平衡性能、运动稳定性和动态响应特性.%For configurational characteristics of UR10 robot, the D-H coordinate transformation method is adopted to establish the kinematics coordinate system, the inverse transform method was used to solve the inverse kinematics of the robot, each joint angle is obtained. Lagrange method was used to analysis the dynamics of UR robot, multibody dynamics simulation software ADAMS was used to its dynamic simulation. The results show that the modular Collabor-ative robot has good static balance of performance,stability and dynamic response of the motion.