N-2型6S自由度机械臂的建模与仿真

-2型6S自由度机械臂的建模与仿真摘要6自由度S-2机械手臂是现代机器人中常用并普遍采用的机构之一，对它的工作机理进行深入研究具有非常重大的意义。完整机器臂的控制系统分为机械构件、电气硬件、软件程序、逻辑计算四大主要组成部分。所有部分之间都是紧密相连的，因此设计各个组成部分时必须彼此配合，从而保证系统得以平稳工作。本难点最开始依据机械臂与空间中爬取随意偏位起码要6个可玩度的基本原理，选了6可玩度转动轴滑囊关节结构。为了能够搞清实际的设备，我认真找了一个世界各国有关设备定制论文。利用各预制件构件规格与品质相关性，利用静力学剖析各滑囊关节的驱动力状况。设立了根据自动平衡智能机器人绝大多数结构来平衡机械臂整体的绝大多数结构类型，并且对各个部位的零件选择和产品开发步骤展开了股票基本面。次之，试着开展服务机器人动力学方程、路径设计等一系列问题。设立了偏位、转速比和转距伺服控制算法的开展。展开了机械臂的仿真模拟，并且对机械臂的休闲学特性展开了相对应科学研究。最终关键讲的是机械臂各关节与区域的轨迹及各关节承受力的实际标值。根据六自由度机械臂的结构，根据动态数据统计分析，完成了检测运动轨迹运作。除此之外，通过构建弹出框，实现了当场标值和图形形象化表明。关键词：SN2:运动分析：机器臂：MATLABAbstractThe 6-degree-of-freedom SN-2 robotic arm is one of the commonly used and commonlyused mechanisms in modern robots,and it is of great significance to conduct in-depth researchon its working mechanism.The control system of the complete robotic arm is divided into fourmain components:mechanical components,electrical hardware,software programs,and logicalcalculation.All parts are closely interconnected,so the components must be designed to worktogether to ensure that the system works smoothly.This project mainly conducts specificresearch on the following aspects:First,according to the principle that at least six degrees offreedom is required to clamp any displacement of the robotic arm in space,thesix-degree-of-freedom linked synovial joint structure is selected.And carefully searched forrelevant papers on mechanical design at home and abroad to clarify the specific mechanicalmechanism.The relationship between the size and mass of each member and the staticmechanics were used to analyze the dynamic situation of each synovial joint.According to thebasic structure of the automatic balancing robot,the basic construction method of balancing theentire robotic arm was designed,and the part selection and design process of each part werebasically analyzed.Secondly,try to realize the kinematics and path design of the robotic arm.The implementation of servo control algorithms for displacement,speed and torque isestablished.The mathematical simulation of the robotic arm was carried out,and the leisurenature of the robotic arm was studied accordingly.Finally,the trajectory of each joint of therobotic arm in space is mainly analyzed,and the real value of the force on each joint is analyzed.Based on the structure of the six-degree-of-freedom robotic arm,the test trajectory operation isrealized through real-time dynamic data analysis.At the same time,through the constructionwindow,the visual display of on-site values and graphics is completed.Key Words:SN2:motion analysis;robotic arm;MATLAB目录摘要Abstract.......第一章绪论1.1概述…1.2机器人的背景与发展历程….21.3机器人国内外研究现状.41.3.1机器人国外研究现状1.3.2机器人国内研究现状.51.4课题的研究目的及主要研究内容6第二章SN-2型6自由度机械臂系统分析及运动设计..72.1机器人的定义.72.2机器人的组成...72.3机器人的分类..82.4自由度及运动路径分析.92.4.1自由度.92.4.2位置与空间位置的关系.102.4.3位姿分析112.4.4坐标变换.11第三章SN-2型6自由度机械臂matlab运动轨迹仿真分析143.1 Adams与matlab的基本介绍….143.2 Adams与matlab基座平转动作的仿真分析…143.3中臂仰俯动作的仿真分析163.4小臂仰俯动作的仿真分析.…183.5爪部仰俯动作的仿真分析..203.6爪部旋转动作的仿真分析..223.7爪部夹取动作的仿真分析.24