论文部分内容阅读
针对某大型激光器装置的装校过程模块化、阵列化及超洁净工作环境等特点,分析了洁净精密装校机器人的轨迹规划和智能化无人装校的实际需求,提出了“轨迹取点→单关节变化PTP规划→初步轨迹拟合→基于时间和防抖动轨迹优化”的轨迹规划思路和方法。根据该机器人结构特征,应用D-H法建立坐标系,完成了运动学正逆解分析。基于运动学位姿方程,按照机器人作业规划流程,完成了洁净精密装校机器人安装一个模块的轨迹规划和优化,并运用MATLAB 2008绘制了具体轨迹曲线。最后运用Pro/E 4.0进行了机构运动学仿真验证,验证表明洁净精密装校机器人在无人工干预及超洁净环境下可实现高洁净、高精密装校。
Aiming at the modularization, array and ultra-clean work environment of a large laser device, the trajectory planning and intelligent unmanned school’s requirements of clean precision robot are analyzed. → single joint change PTP planning → initial trajectory fitting → based on time and anti-shake trajectory optimization "trajectory planning ideas and methods. According to the structural characteristics of the robot, the coordinate system is established by D-H method, and the kinematic positive and negative solutions are completed. Based on the kinematic attitude and posture equations, a trajectory planning and optimization of a precision robot assembly robot was completed according to the robot operation planning process, and a specific trajectory curve was drawn by MATLAB 2008. At last, Pro / E 4.0 is used to verify the kinematic simulation of the mechanism. The verification shows that the clean and precise robot can achieve high cleanness and high precision installation without human intervention and ultra-clean environment.