工业机器人的空间运行轨迹规划研究

Research on Space Moving Trajectory Planning of the Industrial Robot

摘要: 针对国内企业目前主要依靠技术人员进行机器人运行轨迹规划时，常出现效率低和容易发生干涉而影响生产的问题，提出了一种优化计算方法。在对机器人的结构特点和工艺分析的基础上，运用有限元方法建立机器人的虚拟样机模型，仿真计算出模型的末端和各关节的运行轨迹，并与特殊点的数学求解结果进行对比，验证了虚拟样机模型的可靠性，确定机器人的最优运行轨迹，为机器人的设计制造及使用提供依据。

Abstract: An optimization method is proposed aiming at the problem that it is often inefficient and easy to interfere with production since the domestic enterprises mainly rely on the technicians to carry out the trajectory planning of the robot. For this kind of situation, based on the analysis of the structure features of the robot and process analysis, using the finite element method to establish the virtual prototype model of the robot, the simulation calculates the end of the model and the moving trajectory of each joint, and compared with the mathematical solution results of special points, the reliability of the virtual prototype model is verified, the optimal moving trajectory of the robot is determined and the basis for the design, manufacture and use of the robot is provided.