關節(jié)型機器人的結構設計及其運動學分析.pdf

1、（二○○七年五月二○○七年五月題目：關節(jié)型機器人的結構設計及其運動學分析目：關節(jié)型機器人的結構設計及其運動學分析英文題目：英文題目：TheStructureDesignItsKinematicsAnalysisofanArticulatedRobot研究生：侯國柱研究生：侯國柱學科名稱：機械制造及其自動化學科名稱：機械制造及其自動化指導教師：孔慶忠副教授指導教師：孔慶忠副教授碩士學位論文碩士學位論文分類號:學校代碼:10128分類號:學

2、校代碼:10128UDC:學號:20041065學號:20041065AbstractThearticulatedrobotispaidattentiontobydesigneruserfit’sbroadwkrangeflexiblemovementcompactstructurecatchingtheobjectnearthemachineplinth.Thearticlestudiesanexperimentalarticulat

3、edrobot’armofsixdegreesoffreedomwhoseconcernedstudiedcontentsincludethewholeschemedesignkinematicsanalysisofthearticulatedrobottrajectyplanningthewkrangeanalysisvirtualprototypedesignkinematicssimulation.Thethreedegreeso

4、ffreedomarticulatedrobotdesignedinthisarticlehavetheeffectthatcanbeasabasisfthecontinuousresearch.Thesixdegreesoffreedomarticulatedrobotthatwillbedesignedinthefuturecanbeusednotonlyintheteachingprocessbutalsointhefurther

5、scienceresearch.Sothearticle’sstudyhasbroadfactualmeaningapplicationprospects.Thearticlestudiescrelativekeytechnologiestofulfilltherobotrequirementinoperationcontents.Firstlyseveralkindsofschemeswereproposedaccdingtothed

6、esigndem.Thebestschemewaschosenafteranalyzingcomparingtheschemes.Therobot’sstructurewasdesignedwithProEngineerAutoCADsoftware.SecondlythekinematicsanalysisconductedcodinatetransfmationmatrixusingDHmethodwassetupthekinema

7、ticsequationdirectsolutioninversesolutionwasdeduced.ThemanipulativeinterfaceaboutthekinematicsequationdirectsolutioninversesolutionwascompletedwithVCthevelocityJacobianofdisplacementmatrixwasconstructedusingdifferentialt

8、ransfmmethod.Intheprocessofthetrajectyplanningbasedonrobot’skinematicsanalysisIproponeamethodbywhichwecangetdlenodalpointwithnmalizingfactindertosimplifyoursearchingfthesedlenodalpoints.InadditionIgivethesedlenodalpoints

9、withactualphysicssignification.FeliminatingcontradictionbetweenrealtimeaccuracyIbringfwardseparatelylimitoferrreversalinterpolationmethod.Fdecreasingcalculationquantityweresttotrisplineinterpolationinthearticulationspace

10、.Weanalysethewkrangeoftherobotbyrestingtographicmeans.Atlasttherobotarm’skinematicswassimulatedbyusingsoftwareADAMSthesimulationresultwasanalyzed.Totheexperimenttheauthtriedtousethevirtualprototypingtechnologyinmechanism