【摘要】 为了探究多机协作在打磨领域的可行性,以汽车轮毂打磨为应用背景,以2台六自由度工业机器人组成的双机械臂打磨系统为研究对象,运用D-H法建立双机械臂的关节坐标系及其正、逆运动学模型。建立双机械臂关节模型,运用蒙特-卡罗法求出了双机械臂协作工作空间,为后续轮毂打磨轨迹规划提供了理论依据。对建立的正解模型进行仿真验证,在MATLAB中对运动学逆解求解过程进行程序编写,通过代入位姿对所得结果进行数据对比分析,验证了双机械臂系统逆运动学求解的正确性。更多还原

【Abstract】 To explore the feasibility of multi-machine cooperation in the field of grinding, the double manipulator grinding system composed of two six-degree of freedom industrial robots was taken as the research object in the application background of automobile wheel hub grinding, and the joint coordinate system and its forward and inverse kinematics models were established by using D-H method. The joint model of double manipulator was established, and the cooperative workspace of double manipulator was obtained by Monte-Carlo method, which provides a theoretical basis for subsequent wheel grinding trajectory planning. The established forward solution model was simulated and verified. The inverse kinematics solution process was programmed in MATLAB. The correctness of the inverse kinematics solution of the dual manipulator system was verified by comparing and analyzing the data obtained by substituting the position and posture.更多还原