工业机器人设计的新方法及专用软件开发-机械制造及其自动化专业论文.docx

II II 摘要 本文对文献[2]、[3]进行了修正与完善，并在此基础上以 VC++ 6.0 和 OpenGL 为工具，开发 了一款用于工业机器人结构概念设计的专用软件, 迄今为止国内外尚未见到同类型软件。该软件 具有五个主要功能：①自动产生大量机器人符号方案；②由符号表达式生成对应的机器人简图； ③在机器人关节组合方案确定的情况下，可任意改变关节速度和手臂长度进而衍生出末端轨迹完 全不同的机器人；④任意给定机器人各关节速度和手臂长度，能自动仿真末端轨迹；⑤可检验所 选机器人末端能否沿给定轨迹运动。以上功能完全满足了机器人概念设计阶段的要求，因此该软 件的开发成功将为机器人设计师提供一个方便、快捷的设计工具。 机器人方案的产生，是根据文献[2]中提出的机器人符号表示系统，对三种关节进行排列组合， 并依据一定的原则去除不合理方案实现的。机器人简图，是对大量实际机器人进行高度抽象，并 用简明易懂的线条和关节简图表示的。机器人运动仿真及其轨迹生成，是利用矩阵法，通过对机 器人的位形方程求正解实现的。给定轨迹，检验机器人能否沿其运动的功能，是利用回转变换张 量法，通过对机器人位形方程求逆解实现的。文章对软件界面,软件功能，程序算法，数学运算 过程都做了详细介绍，文后附录列有重要的 VC 程序代码。 关键词：工业机器人，设计，专用软件，OpenGL III III Abstract Complementing and improving literature [2] and literature [3], this paper introduces the process of developing a software by VC++ 6.0 and OpenGL for robot structure conception design, which have not come out at home and abroad. This software have five main functions. First, it can generate many robot symbolic schemes automaticly. Second, it can generate robot sketches corresponding to the symbolic representations. Third, assuming that the joint combination scheme is determined, the user can change joint velocity and arm length at will, and then the software can derive robots whose end track are different. Fourth, given joint velocity and arm length, it can show the robot animation and its end track. Fifth, it can judge whether the chosen robot can go along the given track. The functions above are completely qualified for the request for robot conception design. So this software can provide a convenient and efficient designing tool. Based on the robot symbolic system of literature [2], this paper combinates the three joints at random and delete the unreasonable ones, then all the robots come out. The robot sketches are abstracted from lots of real robots and this paper expresses them with brief lines and joint sketches. By working out the forward kinematics function, we can get the robot animation and its track. On the contrary, by working out the inverse kinematics function we can