CAJ | 학술논문

随着计算机、自动控制等技术的发展，工业机器人被大量运用于多种场合。其末端执行器决定了机器人的功能，但机器人本体结构的设计尤为重要。为方便研究，设计了一种六自由度工业机器人结构，采用D-H方法，完成机器人的运动正解。运动逆解采用代数法完成。最后，充分利用LabVIEW便捷的人机界面设计、Softmotion插件丰富的运动控制函数以及Solidworks Motion直观的三维仿真等优点，联合LabVIEW的Softmotion插件和Solidworks Motion进行运动仿真，该思路还能够为后续物理样机的控制仿真提供帮助。
수착계산궤、자동공제등기술적발전，공업궤기인피대량운용우다충장합。기말단집행기결정료궤기인적공능，단궤기인본체결구적설계우위중요。위방편연구，설계료일충륙자유도공업궤기인결구，채용D-H방법，완성궤기인적운동정해。운동역해채용대수법완성。최후，충분이용LabVIEW편첩적인궤계면설계、Softmotion삽건봉부적운동공제함수이급Solidworks Motion직관적삼유방진등우점，연합LabVIEW적Softmotion삽건화Solidworks Motion진행운동방진，해사로환능구위후속물리양궤적공제방진제공방조。
With development of computer and auto-control technologies,the industrial robot has been used widely. The function of industrial robot is decided by its end actuator,but it’s more important to design the main body. A 6-DOF industrial robot structure was designed. With the method of D-H,the forward kinematics analysis of the robot was completed. The algebra method is adopted for the inverse kinematics analysis of the robot. The kinematic simulation of the robot was done by making full use of the speedy man-machine interface design of Labview,rich motion control functions of Softmotion module and visual 3-D simulation of Solidworks Motion,by combining the Softmotion module of Labview with Solidworks Motion.The method can also provide a help for control simulation of the following physical prototype.