一种6自由度装校机器人工作空间分析

摘要

According to the working characteristics and installment environments of modules,a compact installing-calibrating robot with 6-DOF was designed.Using D-H methods,coordinate systems of joints are set up,and D-H parameters are ob-tained.Then the forward kinematic solution are derived.Based on a random probability of the Monte Carlo method, and using MATLAB software, the robot′s work space impact is got.The research results have proved that the designed configuration can satisfy the needs of installment action,which will provide a theoretical reference for the robot trajectory planning,dynamic anal-ysis and online real-time calculation.%针对侧送模块作业特点和装校环境的要求，提出一种结构紧凑具有6自由度的装校机器人。应用D-H法建立机器人各连杆参考坐标系获得D-H参数，并求出机器人的运动学正解。基于随机概率的蒙特卡洛方法，运用MATLAB软件编程，代入求得的位置方程得到整个机器人末端的三维工作空间图。结果分析表明装校机器人工作空间满足装校作业要求，为进一步研究机器人动力学、轨迹规划及实时控制等奠定了理论基础。