CAJ | 학술논문

为了提高工业机器人设计分析效率，降低昂贵的机器人开发成本，利用虚拟样机技术对机器人进行了运动学仿真，提出了机器人的轨迹规划。根据 HA006型工业机器人的结构特点，建立了基于D-H 连杆坐标系的机器人运动学模型，利用MATLAB软件的机器人工具箱构建机器人对象，求解机器人基于关节坐标和直角坐标的轨迹规划，并通过 SolidWorks 软件进行连续路径喷涂轨迹规划的运动学仿真与分析，较为直观地观察机器人工作姿态和运动轨迹，得到机器人运动性能的实时状况。试验结果表明，该方法可以清楚地判定机器人运动方案的合理性及轨迹规划及控制算法的可行性，有效地提高了工业机器人的设计效率。
위료제고공업궤기인설계분석효솔，강저앙귀적궤기인개발성본，이용허의양궤기술대궤기인진행료운동학방진，제출료궤기인적궤적규화。근거 HA006형공업궤기인적결구특점，건립료기우D-H 련간좌표계적궤기인운동학모형，이용MATLAB연건적궤기인공구상구건궤기인대상，구해궤기인기우관절좌표화직각좌표적궤적규화，병통과 SolidWorks 연건진행련속로경분도궤적규화적운동학방진여분석，교위직관지관찰궤기인공작자태화운동궤적，득도궤기인운동성능적실시상황。시험결과표명，해방법가이청초지판정궤기인운동방안적합이성급궤적규화급공제산법적가행성，유효지제고료공업궤기인적설계효솔。
In order to improve the analysis efficiency of industrial robots design,reduce the expensive development costs of robots,kinematics simulation was carried out by using virtual prototype technology of robots.The traj ectory planning of robot was proposed.According to the structure feature of HA006 type industrial robots,robot kinematics model based on the D-H link coordinates was built.Robotics Toolbox of MATLAB software was used to construct robots.The traj ectory planning based on the joint coordinates and cartesian coordinates was built.Through SolidWorks simulation and the kine-matic analysis of traj ectory planning,the visually working posture and movement can be observed,and the robot motion per-formance in real time can be gotten.The experiment results showed that it can clearly j udge the rationality of the robot mo-tion scheme,and it can clearly observe the traj ectory planning and the feasibility of the control algorithm.So it can effective-ly improve the efficiency of the design of industrial robots.