【摘要】 在分析了研究中的含简单闭链5R焊接机器人的结构特点的基础上,针对作两圆柱相贯线运动的作业要求,提出了一种有效轨迹规划方法;用几何法完成了空间位姿的描述;利用变角速度实现稳定的运动效果;在比较多种插值函数的基础上,对关节变量作了多项式插值;用几何矢量法完成逆运动学求解,并用凯恩方法对机器人的动力学进行了计算,设计了仿真程序,对仿真结果进行分析并改进机构;为机器人的设计、运动控制、离线编程提供了依据.更多还原

【Abstract】 Based on the analysis of the structure of 5R welding robot with closed chain and the feature of trajectory that the manipulator would manipulate, an effective trajectory planning method is presented. Here in the orientation and position of robot is defined in geometry, the motion is balanced by varying angular velocity, the polynomial interpolation is adopted for knee variables. Inverse kinematics is done by geometry and dynamics is done by Kane method. simulation programe is desighed. The analysis of the simulating result is useful to the mechanical design, omotion control and offline program of robot. 更多还原