基于Pro-E的关节型机器人工作空间求解

2008113611MACHINETOOL&HYDRAULICSNov2008Vol36No11:2008-05-19:(2006HANCET18);:(1983),,,,:13676957724,E-mai:lxiefeng0721@sinacom基于Pro/E的关节型机器人工作空间求解谢烽,陈鹿民,张存鹰(郑州轻工业学院机电工程学院,河南郑州450002):Pro/E,IRB1600ID,:;:TP2422:A:1001-3881(2008)11-145-2SolutionJointRobotWorkSpaceBasedonPro/EXIEFeng,CHENLumin,ZHANGCunying(CollegeofMech.andElectr.Eng.,ZhengzhouUniv.ofLightInd.,ZhengzhouHenan450002,China)Abstract:AnewmethodtosolvetheworkspacesofrobotsbasedonPro/Ewasproposed,bysolvingtheworkspacesofABBsIRB1600IDminiweldingrobotwiththismethod,itisshowedthemethodhasagoodeffect.Keywords:Robot;Workspaces0,,[1],1:(R3),[2],,WR={p(q):q!Q}R3:q;Q;WR[2-3]:,,,,Jacobian,,,,,,,2,Pro/E[4-5],Pro/E,Pro/E,ABBIRB1600ID,D-H,,Pro/E3IRB1600ID1IRB1600IDIRB1600ID6,,,16,,ABBIRB141392mm,484mm∀648mm,4kgIRB1600ID,,,4IRB1600ID41IRB1600ID型机器人连杆坐标系和连杆参数1,IRB1600ID,6,Z0(1),,,(2),(3)(4),(5)(6)D-HIRB1600ID,2IRB1600ID121IR1600IDii()iaidi11(0#)0#00+180#~-180#22(-90#)-90#a10+150#~-90#33(0#)0#a20+79#~-238#44(0#)-90#a3d4+155#~-155#55(0#)90#00+135#~-90#66(0#)-90#00+200#~-200#:a1=150mm,a2=700mm,a3=1185mm,d4=640mm42IRB1600ID型机器人工作空间的求解,2,IR1600IDO(),,3,3,OIR1600ID[6]2,3,23Y,1Z,,:(1)3,33,a23+d243,A(2)2,32,a2A,2,X-Z,3(3)1,1!(-,),Z360#,Pro/E3,3Z,IR1600ID,Pro/E,,;,,,4(4)IR1600ID,Pro/E,5X-Y1/4,X-Y1/4X-ZY-Z,57,IR1600ID,(下转第159页)14636,,,,,,66(2)Minf(x)X=(X1,X2,X3,X4,X5,X6)=(A1,A2,A3,A4,A5,A6)st!∃(!)0020∃A1∃00260035∃A2∃00450035∃A3∃00500035∃A4∃00530035∃A5∃00580035∃A6∃0100:f(x),A1A2A3A4A5A6511mmA1A2A3A4A5A60026004500500053005801000026000389004450047500493004671,,,(14436kg),,,A6100mm(3)(2)2Hz000114379655881855389568168859480410950134691427710~1400r/min,,,4,,,,,,%1&.ANSYS80[M].:,2005.%2&.ANSYS[M].:,1999.%3&.[M].:,1984.(上接第146页)5,Pro/E,Pro/E,Pro/EABBIRB1600ID,,,%1&,.[M].:,1998.%2&,,祎,杨冠英.三维机器人工作空间[J].,2006(12).%3&,.[J].,2004(4).%4&,,.Pro/E[M].:,2005.%5&.Pro/ENGINEERWildfire20[M].:,2006.%6&,,.[J].,2007(6).15911: