一种双机协同作业机器人的协作工作空间分析

以一种双机协同作业机器人为研究对象,建立双机协同作业机器人运动学模型,并对其进行工作空间求解与仿真分析,判断是否满足工作要求。首先采用D-H法对双机协同作业机器人坐标系进行建立,通过分析其各个关节之间的空间位姿矩阵变换关系,进行运动学方程求解,然后基于蒙特卡罗法对双机协同作业机器人的协作工作空间进行求解,并进行仿真实验验证。最后对协作工作空间的影响因素进行分析,为下一步对协作工作空间进行优化以及双机协作机器人的轨迹规划等问题提供了理论依据。

Analysis of Collaborative Workspace for Two-arm Collaborative Grinding Robot

In this paper, the kinematics model of a two-machine cooperative working robot was established, and the workspace solution and simulation analysis were carried out to determine whether the two-arm cooperative working robot meets the work requirements.Firstly,D-H method was used to establish the coordinate system of the two-arm cooperative working robot, and the kinematic equation was solved by analyzing the spatial pose matrix transformation relationship between the joints. Then, the cooperative working space of the two-arm cooperative working robot was solved by monte carlo method, and the simulation experiment was conducted to verify the results.Finally, the influence factors of collaborative workspace are analyzed, which provides theoretical basis for further optimization of collaborative workspace and trajectory planning of two-arm collaborative robots.