摘要
针对不锈钢壶具车间的薄片工件抓取问题,设计一款四自由度抓取机器人,并在SolidWorks软件建立了抓取机器人的3D模型。采用D-H方法建立机器人的运动学方程,对其运动学的正问题和逆问题进行求解。最后在ADAMS软件中建立虚拟样机模型,从理论上分析机器人运动情况,验证机器人设计的可行性,为后面机器人轨迹规划和控制奠定基础。
A Four-Degree-of-Freedom grasping robot was designed to grasp thin sheet workpiece in stainless steel pot workshop.A 3D model of the grasping robot was established in SolidWorks software.The D-H method was used to establish the kinematics equation of the robot,and the forward and inverse kinematics problems were solved.Finally,a virtual prototype model was built in ADAMS software to theoretically analyze the motion of the robot,verify the feasibility of the robot design,and lay the foundation for the trajectory planning and control of the robot behind.
作者
陈志稳
陈少克
CHEN Zhi-wen;CHEN Shao-ke(College of Engineering,Shantou University,Shantou 515063,China)
出处
《机电工程技术》
2018年第12期68-71,共4页
Mechanical & Electrical Engineering Technology
