基于SimMechanics的工业机器人工作空间关键技术研究

摘要

In the Matlab/SimMechanics toolbox, according to the kinematic chain characteristics of the serial robot joint, the robot model with six degrees of freedom is established. Based off the common methods of workspace solving, a method based on SimMechanics is put forward. With which, under the constraints of joint rotation with equal angle step, the position of robot’s manipulator can be solved, the enveloping line and surface are formed through several enveloping, and the workspace profile of manipulator is obtained through data post-processing and visualization. This method has high efficiency and small error, can reduce the time of solving the workspace, and provides a theoretical basis for improving the processing efficiency of robot and lays the foundation for the further study of the kinematics of robot.%在Matlab/SimMechanics工具箱中，根据串联机器人关节的运动链特征，建立了串联机器人模型，在常用工作空间求解方法的基础上，提出了基于SimMechanics求解工作空间的一种方法。通过关节角度等步长转动约束，求解机器人末端的位置，通过多次包络形成包络线和包络面，经过数据的后处理和可视化，形成机器人的工作空间轮廓，该方法取点效率高、误差小，可减少工作空间求解过程的时间，为提高机器人加工效率提供了理论依据，为机器人运动学进一步研究奠定了基础。