摘要
以七自由度垂直关节型机器人VS50为例,构建了该机器人的CAD模型和D-H坐标系。根据机器人D-H矩阵理论,通过VS50机器人工件中心坐标系向机座坐标系的齐次坐标变换,建立了该机器人运动学正问题的数学模型。求解该方程并测量该模型在运动仿真前后其工件中心的位置,使VS50机器人的数学模型和运动仿真得到了相互验证。七自由度机器人运动学建模,对于研究开发该类机器人有一定的参考意义。
Taking VS50 robot as an example, the CAD model and D-H coordinate system of a seven joints robot are built . According to the theory of D-H matrix, the mathematical model of kinematic problem is established via homogeneous transformation, which is from the center coordinate system of workpiece to the coordinate system of VS50 plinth. After solving the kinematic equation and measuring the center position of workpiece, the mathematical model and the kinematic simulation of VS50 are verified mutually. Modeling for kinematics of 7-DOF robots has a certain reference value for researching and developing such robots.
出处
《煤矿机械》
北大核心
2010年第6期79-81,共3页
Coal Mine Machinery
