关节型码垛机器人的工作空间分析

摘要

The analysis of the robot working-space in the whole robot design process,is a very important question.This paper using the D-H method to establish the robot kinematics equation,and then according to the equation of the numerical method for joint type stacking robot was analysed,and the results of the analysis software MATLAB simulation,get the robot can reach the work space diagram,through to illustrate the correctness of the method,and for further optimization of the robot and provide a basis for the design of control system.%机器人工作空间的分析在整个机器人设计过程中,是一个非常重要的问题.文章首先运用D-H法建立机器人的运动学方程,再根据所求的方程采用数值法对关节型码垛机器人进行分析,并用MATLAB软件对分析结果进行仿真,得到机器人的可达工作空间图,通过验证说明了此法的正确性,并为机器人的进一步优化以及控制系统的设计提供了依据.