摘要
机器人的工作空间是衡量其适用范围和工作能力的重要运动学指标。在简要介绍5自由度箱型钢结构轨道式焊接机器人的基本结构之后,采用D-H法分别建立了该机器人在直线段和圆弧段轨道的运动学模型。将运动学模型转换至以箱型钢中心为基准的坐标系,基于蒙特卡洛法采用工程软件MATLAB对机器人的工作空间进行了仿真分析,仿真结果表明所设计焊接机器人的工作空间形状紧凑,与所期望的实际需求相符。综合考虑机器人工作空间与实际机械结构约束,确定了该机器人所适用的箱型钢结构尺寸范围。
Robot workspace is an important kinematic index for evaluating its scope of application and work ability.After a brief introduction to the fundamental structure of the orbit robot with 5 DOF for the welding of box-type steel structure,the kinematic models of this robot moving on the straight track and arc track were established by using D-H approach,respectively.The kinematic models are converted to the reference coordinate system on the basis of box-type steel center,and then the workspace of designed robot is simulated and analyzed based on Monte Carlo method and by using engineering software MATLAB.The simulation result shows that the workspace of designed welding robot is compact and agrees with the expected actual requirement.Comprehensive consideration with the workspace of designed robot and constraint of actual mechanical structure,the applicable size range of box-type steel structure is determined for the designed robot.
出处
《焊接》
北大核心
2016年第9期1-5,共5页
Welding & Joining
