基于D-H算法的棉桶更换复合机器人运动学建模与仿真分析

摘要

文章以棉桶更换复合机器人为研究对象,根据研究作业工艺需要,建立了作业平面坐标系;采用D-H算法建立复合机器人抓握棉桶运动数学模型,运用MTALAB软件获得棉桶作业空间轨迹集合;利用Robotics Toolbox工具箱建立复合机器人仿真模型,进行轨迹规划.对仿真结果分析表明,作业空间轨迹集合包含了棉桶更换作业规定的作业路径,末端运行轨迹连续平滑,各关节运动平稳,无干涉,满足棉桶搬运与更换作业要求.%The working plane coordinate system was established taking the cotton barrel replacement com-posite robot as the research object according to the research requirements of operation technology. The math-ematical model of composite robot grasping cotton barrels was established using D-H method and the work space trajectory set obtained using MTALAB software. The simulation model of the composite robot was es-tablished using Robotics Toolbox and the trajectory planed. The simulation results show that the work space trajectory set contains operating trajectories planned of the composite robot and the terminal trajectory of the operation parameters are continuous and smoothly. That each joint of the robot motions stably and show no environmental interference, composite robot could meet the requirements of operation technology of cotton barrel carried and replaced.