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| 基于MATLAB机器人运动学分析与仿真 |
| Analysis and Simulation of Robot Kinematics Based on MATLAB |
| 投稿时间：2021-03-08 |
| DOI：10.16018/j.cnki.cn32-1650/n.202103006 |
| 中文关键词: 工业机器人 运动学 系统建模 运动仿真 |
| 英文关键词: industrial robots kinematics system modeling motion simulation |
| 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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| 中文摘要: |
| 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。 |
| 英文摘要: |
| 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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