CAJ | 학술논문

在充分调研国内外先进机器人构型设计的基础上，设计出一种基于UG三维建模的七自由度机器人。基于D-H 矩阵理论，建立了七自由度机器人的正运动学方程。基于MATLAB 软件，采用了随机抽样的数值方法。针对本体结构和运动方式特征，分析了七自由度机器人的工作空间，得到了其末端的工作空间点云图。仿真结果表明，用蒙特卡洛法分析七自由度机器人的工作空间变化平缓，无突兀现象，从而验证了结构设计的合理性，对其后期的结构及其控制系统的优化设计提供了依据。
재충분조연국내외선진궤기인구형설계적기출상，설계출일충기우UG삼유건모적칠자유도궤기인。기우D-H 구진이론，건립료칠자유도궤기인적정운동학방정。기우MATLAB 연건，채용료수궤추양적수치방법。침대본체결구화운동방식특정，분석료칠자유도궤기인적공작공간，득도료기말단적공작공간점운도。방진결과표명，용몽특잡락법분석칠자유도궤기인적공작공간변화평완，무돌올현상，종이험증료결구설계적합이성，대기후기적결구급기공제계통적우화설계제공료의거。
On the basis of the full investigation of advanced welding robot configuration design,designed a 7-DOF weld-ing robot based on UG three-dimensional modeling.The forward equation of kinematics was built based on the D-H matrix according to the body structure and motion features of 7-DOF welding robots.The workspace of manipulator was analyzed by numerical methods for random sampling.The cloud picture was completed based on MATLAB.Simulation results showed that the experimental results indicated that by using numerical methods for random sampling the analysis of weld ro-bot workspace changed smoothly without impact,which confirmed the reasonableness of structural design,and provided the basis for optimal design of robot control system and structural design of the latter.