六自由度工业机器人运动学和动力学分析设计说明书.docx

六自由度工业机器人运动学和动力学分析 摘 要：本文研究的内容是六自由度串联机器人，使用连杆参数法创建机器人坐标系统，根据齐次变换矩阵求解机器人运动学正问题，求解结果验证了机器人运动学理论的正确性。通过研究机器人的动力学，以牛顿方程和欧拉方程为出发点，分析了机器人构件的速度和加速度以及牛顿欧拉动力学递推计算公式。同时应用拉格朗日方程描述了机器人系统的动力学方程，对动力学的算法进行优化并验证了算法优化的可行性，在Matlab中进行动力学仿真，通过对机器人正向动力学仿真，结果得出关节力、力矩与关节速度、加速度等变量的相互关系，以及机器人在有无重力的情况下的力矩变化，对机器人的运动控制提供了很大帮助。本文实现的机器人正运动学的求解仿真，并根据机器人各个关节的角位移、速度和加速度等参数变化曲线，验证了机器人运动学的正确性和机器人建模的可行性。此外还研究了基于关节空间规划和笛卡尔空间规划对机器人运动轨迹规划等问题，实现了对机器人运动路径的实时规划。 关键词：运动学；动力学；Robotics Toolbox；联合仿真 Kinematics and dynamics analysis of six-DOF industrial robot Abstract:The content of this paper is a six-degree-of-freedom series robot, using the linkage parameter method to create the robot coordinate system, according to the homogeneous transformation matrix to solve the robot kinematics problem, the results verify the correctness of the robot kinematics theory. Based on the study of the dynamics of the robot, the velocity and acceleration of the robot member and the recursive formula of Newtons Euler dynamics are analyzed with the starting point of Newton and Euler equations. At the same time, the dynamic equation of robot system is described by Lagrange equation, the dynamic algorithm is optimized and the feasibility of algorithm optimization is validated, the dynamic simulation is carried out in MATLAB, and the relationship between joint force, torque and joint velocity, acceleration and so on is obtained. As well as the torque change of the robot in the absence of gravity, the motion control of the robot is greatly helpful. In this paper, the kinematics of the robot is simulated, and the kinematic correctness of the robot and the feasibility of the robot modeling are verified according to the variation curves of angular displacement, velocity and acceleration of each joint. In addition, based on joint space planning and Cartesian space programming, the motion trajectory planning of robot is realized, and the real-time planning of robot motion path is achieved. Key words: Kinematics; Dynamics; robotics