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通过六轴机器人的D-H参数表推导出正运动学的求解公式,并通过末端位姿数值能够求解出每个关节角的数值,然后利用solidworks三维软件建立六轴机器人三维本体设计,并通过更改成x-t格式导入到Adams进行约束和驱动操作,即而建立成六轴工业机器人的虚拟样机。从而对虚拟样机进行求解分析,然后通过运动仿真模拟机械臂关节的驱动情况,得出其运动曲线,即而验证模型建立的正确性,为后续的相应的实验和研究建立良好的基础。
According to the DH parameter table of the six-axis robot, the positive kinematics formula is deduced and the numerical value of each joint angle can be calculated by the end position and numerical value. Then the solid three-dimensional software is used to build the three-dimensional ontology design of the six-axis robot, The xt format was imported into Adams for constraint and drive operations, creating a virtual prototype of a six-axis industrial robot. Then the virtual prototype is solved and analyzed. Then, the motion of the manipulator joint is simulated by the motion simulation, and the motion curve is obtained. Then the correctness of the model is verified, and a good foundation for subsequent experiments and research is established.