| FS03N通用机器人运动学分析与仿真 |
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| 引用本文： | 孔强强,沈景凤,宣大鹏.FS03N通用机器人运动学分析与仿真[J].农业装备与车辆工程,2020,58(2):79-82. |
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| 作者姓名： | 孔强强 沈景凤 宣大鹏 |
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| 作者单位： | 200093 上海市 上海理工大学机械工程学院;200331 上海市 上海铁路机车车辆发展有限公司 |
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| 摘 要： | 以FS03N通用机器人为研究对象,根据FS03N的结构特点,采用D-H法建立了机器人连杆坐标系,列出连杆参数,计算得出了以关节角度为变量的正运动学方程。通过选用z-y-z欧拉角来描述川崎FS03N通用机器人末端的方位。在机器人运动学反解问题上,采用了反变换法来求解。最后,使用SolidWorks软件建立了FS03N的三维实体模型,用motion对其进行仿真,验证位置正反解的正确性。
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| 关 键 词： | 机器人 运动仿真 SolidWorks 实体模型 motion |
Kinematics Analysis and Simulation of FS03N General Robot |
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| Kong Qiangqiang,Shen Jingfeng,Xuan Dapeng.Kinematics Analysis and Simulation of FS03N General Robot[J].Agricultural Equipment & Vehicle Engineering,2020,58(2):79-82. |
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| Authors: | Kong Qiangqiang Shen Jingfeng Xuan Dapeng |
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| Institution: | (University of Shanghai for Science and Technology,Shanghai 200093,China;Shanghai Railway Locomotive and Vehicle Development Company,Shanghai 200331,China) |
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| Abstract: | Taking FS03 N general-purpose robot as the research object,according to the structure characteristics of FS03 N,the coordinate system of the robot connecting rod is established by D-H method,the parameters of the connecting rod are listed,and the forward kinematics equation with joint angle as variable is calculated.The end orientation of Kawasaki FS03 N general-purpose robot is described by z-y-z Euler angle.On the inverse kinematics solution of the robot,the inverse kinematics is adopted.Finally,a three-dimensional solid model of FS03 N is built in SolidWorks software,and the positional forward and inverse solutions are verified by motion simulation. |
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| Keywords: | robot motion simulation SolidWorks motion model |
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