【摘要】 设计了一种六自由度经济型工业机器人,从经济性考虑,完成了驱动电机、减速器及控制器的选型和各关节的结构设计,在保证性能要求的情况下降低了机器人的成本。根据D-H方法建立机器人的运动学数学模型,得出机器人末端点的运动方程,在Matlab环境下,采用蒙特卡洛法求出机器人的工作空间点云图,运用Robotics Toolbox对该机器人进行仿真建模,并进行了实例仿真。通过仿真结果分析机器人的运动情况,验证了运动学算法的正确性,符合预期的设计目标,为机器人轨迹规划和控制的研究提供了可靠的依据。更多还原

【Abstract】 A kind of six degrees of freedom(6-DOF) economic industrial robot is designed. Considering the economy, the selection of driving motors, reducers and controller were completed, the structure of each joint was designed, which ensures the performance requirements and reduces cost of the robot at the same time. According to the D-H method, its mathematical model was established, and the kinematics equation of the robot was derived. The working point cloud of robot was given by using Monte Carlo method. The robot modeling and the kinematics examples were simulated with the Robotics Toolbox of Matlab program language. Based on the simulation, the motion of the robot was analyzed. The simulation proves the kinematic algorithm and the desired design goals are right, also it is beneficial to research of robot planning and control.更多还原