CAJ | 학술논문

如何确定机器人驱动系统中各轴的运动学与动力学参数是机器人运动学逆解的关键。其传统求解方法需要进行大量的矩阵方程计算,耗时费力,本文以点焊机器人为例给出了一种由ADAMS软件实现的机器人逆运动学求解的仿真分析方法。通过仿真分析,能够便捷地求出各驱动轴的运动曲线,为机器人驱动系统中电机和减速器的选型、系统的运动控制与优化设计提供了依据。
여하학정궤기인구동계통중각축적운동학여동역학삼수시궤기인운동학역해적관건。기전통구해방법수요진행대량적구진방정계산,모시비력,본문이점한궤기인위례급출료일충유ADAMS연건실현적궤기인역운동학구해적방진분석방법。통과방진분석,능구편첩지구출각구동축적운동곡선,위궤기인구동계통중전궤화감속기적선형、계통적운동공제여우화설계제공료의거。
How to determine the kinematics and dynamics parameters of the axes of robot＇s drives is the key to the robot inverse kinematics solution.The traditional solution way needs a lot of matrix equation,but it＇ s a time-consuming and laborious work.Taking the spot welding robot for example,this paper presents a simulation analysis method to the robot inverse kinematics solution by ADAMS software.Through the simulation analysis,the drive shafts motion curves can be easily obtained,and it also provides the basis for choosing the model of motor and reducer of robot drives and motion controlling and optimization design of the system.