Movement Characteristics Analysis and Dynamic Simulation of Collaborative Measuring Robot

2016 2nd International Conference on Mechanical and Aeronautical Engineering (ICMAE 2016)

机械制造;航空航天工程

Guoqing, M.A.^1 ; Li, L.I.U.^1 ; Zhenglin, Y.U.^1 ; Guohua, C.A.O.^1 ; Yanbin, Zheng^1

School of Mechatronical Engineering, Changchun University of Science and Technology, Changchun

130022, China^1

关键词: Collaborative robots;    Human-machine collaboration;    Inverse transformations;    Lagrange methods;    Measuring robot;    Movement characteristics;    Multibody dynamics simulations;    Research subjects;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/187/1/012043/pdf
DOI  :  10.1088/1757-899X/187/1/012043

学科分类：航空航天科学

来源: IOP

【 摘 要 】

Human-machine collaboration is becoming increasingly more necessary, and so collaborative robot applications are also in high demand. We selected a UR10 robot as our research subject for this study. First, we applied D-H coordinate transformation of the robot to establish a link system, and we then used inverse transformation to solve the robot's inverse kinematics and find all the joints. Use Lagrange method to analysis UR robot dynamics; use ADAMS multibody dynamics simulation software to dynamic simulation; verifying the correctness of the derived kinetic models.