【摘要】 采用模块化设计思想,设计了一种新型可重构工业机器人.通过对机器人进行结构优化设计,机器人的负载自重比达到1/4.5.机器人各关节模块的结构均相同,大幅减少了设计工作量;关节模块中传动部件均采用通用件,降低了机器人的成本.通过关节模块和手臂模块的组合,可形成多种机器人构型.针对其中一种机器人构型,利用DH法建立了机器人正运动学模型.该构型机器人不符合相邻的3根关节轴线交于一点的条件,利用传统方法很难求得全部逆解,因此提出一种代数法与几何法相结合的新方法,求得该构型机器人逆运动学的完整解析解.机器人运动学分析的正确性通过算例进行了验证,为机器人的运动控制奠定基础.更多还原

【Abstract】 A new reconfigurable industrial robot was developed with modular method.The robot’s load weight ratio reached 1/4.5by the optimized design of its structure.Each joint of the robot had the same structure,which reduced repetitive design work.And the transmission components of the joint were all standard parts,which reduced the cost.Through the combination of joint modules and arm modules,different robot configurations could be obtained.Aiming at one robot configuration,the forward kinematics model was established with DH method.Since the robot did not have adjacent three-axis that intersected at one point,it was difficult to obtain all inverse kinematic solutions by traditional method.Thus,a new method with the combination of algebraic and geometric methods was proposed to obtain all analytical solutions.Finally,the kinematic analysis of this robot was verified by examples.The kinematic analysis could provide a basis for subsequent robot motion control.更多还原