中国机械工程 ›› 2015, Vol. 26 ›› Issue (3): 308-312,318.

• 智能制造 • 上一篇    下一篇

一种关节型串联机器人工作空间边界提取的新方法

侯雨雷1;王嫦美2;胡鑫喆1;曾达幸1;赵永生1   

  1. 1.燕山大学,秦皇岛,066004
    2.东方电气集团东方电机有限公司,德阳,618000
  • 出版日期:2015-02-10 发布日期:2015-02-09
  • 基金资助:
    国家科技重大专项(2010ZX04004-112);河北省自然科学基金资助项目(E2012203034) 

A New Method for Workspace Boundary Extraction for Jointed Serial Robot

Hou Yulei1;Wang Changmei2;Hu Xinzhe1;Zeng Daxing1;Zhao Yongsheng1   

  1. 1.Yanshan University,Qinhuangdao,Hebei,066004
    2.Dongfang Electric Machinery Co.,Ltd.,Deyang,Sichuan,618000
  • Online:2015-02-10 Published:2015-02-09
  • Supported by:
    National Science and Technology Major Project ( No. 2010ZX04004-112);Hebei Provincial Natural Science Foundation of China(No. E2012203034)

摘要:

利用杆件极限组合原理,结合定步距角法可固定关节变量的特点,提出一种提取工作空间边界的新方法——“极限定步距角法”,阐明思路并给出其具体实施步骤。以某型ABB机器人为例,利用D-H法设定机器人连杆参数及关节变量,并建立机器人坐标系与D-H坐标系间的转换关系,获得机器人边界关键点位置,进而借助MATLAB软件绘制机器人手腕处三维透视工作空间,对比分析表明所获边界关键点精度完全满足商用机器人标准。所提出的方法简单有效、计算便捷、利于操作,对串联机器人工作空间的研究具有理论指导意义和实践应用价值。

关键词: 串联机器人, 工作空间, 边界, 极限定步距角

Abstract:

Based on the principles of bar limit combined with fixed joint variable, a new method for the workspace boundary extraction——“limit fixed interval angle” was proposed. The ideas and implementation steps was illuminated. Taking the ABB robot as an example, the link parameters and joint variables were set with D-H method. In addition, the transformation relation between the robot coordinate system and D-H coordinate system was established, from which the key point of workspace was obtained. Using MATLAB software, the three dimensional perspective workspace of the robot in the wrist was drew. A comparative analyses reveal that the accuracy of the boundary keypoint satisfies the standard of the commercial robots completely. The method presented herein is simple, effective, easy to calculate and manipulate. The research fruit of workspace of the serial robot possesses important theoretical guiding significance and practical application value.

Key words: serial robot, workspace, boundary, limit fixed interval angle

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