【作者】 叶长龙；

【导师】 边广韬；

【作者基本信息】 沈阳工业大学 ， 机械制造及其自动化， 2002， 硕士

【摘要】 本文根据机器人末端执行器所要完成的轨迹特点，进行了轨迹规划，研究了解决该问题的机器人的结构，并做出了运动学和动力学分析。该机器人的结构形式为关节式，是具有五个旋转自由度的工业机器人。其腰部旋转具有很大的活动空间，大臂含有平行的闭链结构，主要是解决大臂和小臂的平衡问题，使动力学性能更好，腕部为两个自由度结构。在此基础上，建立机器人的运动学和逆运动学方程，其中运动学部分将该机器人的混合链结构化解成为等效的开链结构，建立开链的运动学关系。逆运动学部分在分析几种解决方案的基础上，选择向量法。该方法形象、明了，避免了优解选择的繁琐性，并通过计算机仿真验证了该方法的正确性。根据相贯线的轨迹特点，在比较代数方法和几何方法的基础上，证明几何方法更方便，解法更简单具有很强的实用性。关节空间的轨迹规划，选择多项式插值，通过仿真证明该多项式插值方法比抛物线插值方法更适用于解决该问题，方便机器人的离线编程。动力学部分主要使用Kane方法建立动力学方程。并分析了动力学仿真结果。更多还原

【Abstract】 The structure of industrial robot is presented in this thesis, based on the trajectory that the manipulator would complete. This is articulated robot, which has five joints, a large working space. The low arm consists of parallel closed chains, which can balance the two main arms, make the dynamic quality better. The wrist has two degrees of freedom. The following is the solution of kinematics and inverse kinematics of robot, including setting the kinematic equation by unchaining the closed chains. After the analysis of some methods for the inverse kinematics, the vector method is presented. This method is simple, evading the complex of choosing the good answers. The simulation of computer testifies it. Based on the trajectory that two perpendicular intercoursing cylinders formed, the geometry method is chosen comparing with the mathematic method, it has powerful practical quality. The trajectory planning is in the joint space. By simulation of the polynomialinterpolation and the parabola interpolation, the former is chosen, whichis a part of off-line programming. Solving the dynamic equation uses the Kanemethod. The consequences of simulation are finally analyzed.更多还原