PUMA机器人工作空间-哈工大机器人大作业

PUMA机器人大作业

1 坐标系建立：

坐标系可以简化为：

- 1 -

2 D-H参数表：

PUMA机器人的杆件参数:

d1?0.6604m，d2?0.14909m，d4?0.43307m，d6?0.05625m，a2?0.4318m，a3?0.02032m

关节i 1 2 3 4 5 6

?i 90 0 -90 0 0 0 ?i 0 -90 0 -90 90 -90 ai?1 0 0 di 0 运动范围 -160o~160o d2?0.14909m -225o~45o 0 -45o ~225o a2?0.4318m a3?0.02032m d4?0.43307m -110 o ~170 o 0 0 0 -100 o ~100 o d6?0.05625m -266 o ~266 o 3 正运动学推导

?s?i0ai?1??c?i?s?c??c?c??s??ds?ii?1ii?1i?1ii?1?由式i?1Ti??可得： ?s?is?i?1c?is?i?1c?i?1dic?i?1???0001???c1?s1?sc10T1??1?00??00?c3?s2T3??3?0??000100??c2?00?1?T2????s20???1?，?0?s40?c40?s20?c200?1d2??00??01?，

?s50c5000??10??00??01?，

0?s30a2??c4?0c300??3T4????s4010???001??00a3??c5?01d4??4T5???s500???01?，?0- 2 -

?c6?05T6????s6??00?s60?c6001000?0?? 0??1?T6?0T11T22T33T44T55T6

oxoyoz0axayaz0px?py?? pz??1?机械手变换矩阵

?nx?n0T6??y?nz??0nx?c23(c6c5c4c1?s6s4c1)?s23c6s5c1?c6c5s4s1?s6c4s1ny?c23(c6c5c4s1?s6s4s1)?s23c6s5s1?c6c5s4c1?s6c4c1 nz??s23(c6c5c4?s6s4)?c23c6s5ox??c23(s6c5c4c1?c6s4c1)?s23s6s5c1?s6c5s4s1?c6c4s1oy??c23(s6c5c4s1?c6s4s1)?s23s6s5s1?s6s4c5c1?c6c4c1 oz?s23(s6c5c4?s6s4)?c23c6s5ax??c23s5c4c1?s23c5c1?s5s4s1ay??c23s5c4s1?s23c5s1?s5s4c1 az??c23c5?s23s5c4px?a3c23c1?a2c2c1?d4s23c1?d2s1py?a3c23s1?a2c2s1?d4s23s1?d2c1pz??d4c23?a3s23?a2s2

4 Matlab编程得出工作空间

可以将连杆6的原点做为机器人的动点，连杆6原点相对于坐标系0就是0T6的px、py、pz，已知：

px?a3c23c1?a2c2c1?d4s23c1?d2s1py?a3c23s1?a2c2s1?d4s23s1?d2c1 pz??d4c23?a3s23?a2s2Matlab程序如下：

- 3 -

clc,clear

length2=431.8;length3=20.32; d2=149.09;d4=433.07; a=pi/180;

for a1=-160*a:20*a:160*a for a2=-225*a:20*a:45*a a3=-45*a:20*a:225*a for k=1:length(a3) end end

机器人工作空间——三维空间：

- 4 -

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