CAJ | 학술논문

根据喷涂机器人的工作要求，采用改进的D-H法建立其运动学方程，并分析其正问题。利用Solidworks软件建立机器人几何模型，通过ADAMS仿真软件对虚拟样机进行运动学仿真分析；利用机器人工具箱求解运动学正、逆解，同时对机器人进行正运动学和轨迹规划仿真，得到了平滑而又连续的位移、速度、角度、运动轨迹曲线和机器人喷涂过程中的运动轨迹规划曲线。从而验证了几何模型设计的合理性和数学模型的正确性，为后续的动力学分析以及轨迹优化等奠定了理论基础。
근거분도궤기인적공작요구，채용개진적D-H법건립기운동학방정，병분석기정문제。이용Solidworks연건건립궤기인궤하모형，통과ADAMS방진연건대허의양궤진행운동학방진분석；이용궤기인공구상구해운동학정、역해，동시대궤기인진행정운동학화궤적규화방진，득도료평활이우련속적위이、속도、각도、운동궤적곡선화궤기인분도과정중적운동궤적규화곡선。종이험증료궤하모형설계적합이성화수학모형적정학성，위후속적동역학분석이급궤적우화등전정료이론기출。
According to the work requirements of the Painting robot, the kinematical equation were estab-lished by using the modified form of D-H notation, and the forward kinematics problem was analyzed by u-sing the coordinate frame. The geometric model of the robot was established by the Solidworks software, and kinematics simulation analysis was conducted by using ADAMS; Kinematics, inverse kinematics was solved and the robot forward kinematics and trajectory planning simulation were carried by using Robotics Toolbox, the smooth and continuous displacement, velocity, angle, trajectory curves and the trajectory plan-ning curve during the robot spraying were obtained. As so to verify rationality of the geometric model and correctness of the mathematical models model, which provided the theoretical foundation for subsequent ki-nematical analysis and trajectory optimization.