工业机器人的空间运行轨迹规划研究.pdfVIP

Mechanical Engineering and Technology 机械工程与技术, 2017, 6(1), 11-16 Published Online March 2017 in Hans. /journal/met /10.12677/met.2017.61002 Research on Space Moving Trajectory Planning of the Industrial Robot * * Xiaoxiao Wang , Lianjin Li , Min Guo, Zhen Li, Xiaoli Liu, Jingjing Zhao School of Mechanical Engineering, Tianjin University of Commerce, Tianjin th th th Received: Feb. 26 , 2017; accepted: Mar. 14 , 2017; published: Mar. 20 , 2017 Abstract An optimization method is proposed aiming at the problem that it is often inefficient and easy to interfere with production since the domestic enterprises mainly rely on the technicians to carry out the trajectory planning of the robot. For this kind of situation, based on the analysis of the structure features of the robot and process analysis, using the finite element method to establish the virtual prototype model of the robot, the simulation calculates the end of the model and the moving trajectory of each joint, and compared with the mathematical solution results of special points, the reliability of the virtual prototype model is verified, the optimal moving trajectory of the robot is determined and the basis for the design, manufacture and use of the robot is pro- vided. Keywords Robot, Trajectory Planning, Motion Simulation, Computational Model 工业机器人的空间运行轨迹规划研究 * * 王肖潇 ，李连进，郭 珉，李 珍，刘晓丽，赵静静 天津商业大学机械工程学院，天津 收稿日期：2017年2月26 日；录用日期：2017年3月14 日；发布日期：2017年3月20 日 摘 要 针对国内企业目前主要依靠技术人员进行机器人运行轨迹规划时，常出现效率低和容易发生干涉而影响 *通讯作者。 文章引用: 王肖潇, 李连进, 郭珉, 李珍, 刘晓丽, 赵静静. 工业机器人的空间运行轨迹规划研究[J]. 机械工程与技术,