| 基于MATLAB机器人运动学分析与仿真 |
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| 引用本文： | 张小光,顾宏才,李公文,张文磊.基于MATLAB机器人运动学分析与仿真[J].盐城工学院学报(自然科学版),2021,34(3):27-30. |
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| 作者姓名： | 张小光 顾宏才 李公文 张文磊 |
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| 作者单位： | 滁州职业技术学院 电气工程学院, 安徽 滁州 239000;芜湖安普机器人产业技术研究院有限公司, 安徽 芜湖 241000 |
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| 基金项目： | 滁州职业技术学院自然科学研究项目(YJZ-2019-15；YJY-2020-30)；安徽省教育厅高校自然科学研究项目(KJ2019A1135)。 |
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| 摘 要： | 随着生产技术的不断提高,工业机器人已经成为衡量一个国家制造业水平的重要标志。为了研究具有高负载能力机器人的运动性能,对165 kg重载机器人进行运动学求解,再利用MATLAB中的机器人插件完成重载机器人运动模型的搭建,并进行运动过程的仿真,得到重载机器人运动过程中各关节变量与末端位姿之间的关系,从而优化重载机器人的本体结构设计,缩短机器人的研发周期,节约研发设计成本。
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| 关 键 词： | 工业机器人 运动学 系统建模 运动仿真 |
| 收稿时间： | 2021/3/8 0:00:00 |
Analysis and Simulation of Robot Kinematics Based on MATLAB |
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| ZHANG Xiaoguang,GU Hongcai,LI Gongwen,Zhang Wenlei.Analysis and Simulation of Robot Kinematics Based on MATLAB[J].Journal of Yancheng Institute of Technology(Natural Science Edition),2021,34(3):27-30. |
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| Authors: | ZHANG Xiaoguang GU Hongcai LI Gongwen Zhang Wenlei |
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| Institution: | School of Electrical Engineering, Chuzhou Polytechnic, Chuzhou Anhui239000, China;Wuhu Anpu Robotics Industry Technology Research Institute Co., Ltd., Wuhu Anhui241000, China |
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| Abstract: | With the continuous improvement of production technology, industrial robot has become an important symbol to measure a country''s manufacturing level. In order to study the motion performance of the robot with high load capacity, the kinematics of the 165kg heavy-duty robot was solved. The robot plug-in in MATLAB was used to complete the construction of the motion model of the heavy-duty robot, and the simulation of the motion process was carried out to obtain the relationship between the joint variables and the end pose of the heavy-duty robot in the motion process. Thus, the structure design of the heavy-duty robot is optimized, the research and development cycle of the robot is shortened, and the research and development design cost is saved. |
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| Keywords: | industrial robots kinematics system modeling motion simulation |
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