一种汽车白车身生产线中圆柱坐标机器人的运动学及仿真.pdfVIP

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一种汽车白车身生产线中圆柱坐标机器人的

运动学及仿真

郑鋆，路书礼

（华晨宝马汽车有限公司，沈阳110044）

摘要：描述并分析了一种在白车身生产线中用于上料的R原兹型圆柱坐标机器人。对机器人的各个关节特性进行了分析，

并确定了关节间的耦合关系。使用D-H方法建立了R原兹型机器人的连杆坐标系，并参考之前关节的耦合关系，求解了机器人

的运动学问题。然后使用ADAMS建立机器人模型并进行运动学仿真，验证运动学模型的正确性。

关键词：白车身；圆柱坐标机器人；运动学；Adams仿真；D-H方法

中图分类号：TP242文献标志码：A文章编号：员园园圆原圆猿猿猿（圆园20）12原园129原园3

KinematicsandSimulationofaCylindricalRobotUsedintheAutoBIWProductionLine

ZHENGJun,LUShuli

（BMWBrillianceAutoCo.,Ltd.,Shenyang110044,China）

Abstract:Thispaperdescribesacylindricalrobot,whichisusedinBIWproductionline.Thejointscharacteristicsofthe

robotareanalyzed,andthecouplingrelationshipbetweenthejointsisdetermined.TheD-Hmethodisusedtoestablish

thecoordinatesystemandthekinemat