为提高自由曲面表面工艺品质,提出用机器人运动模型来规划其各关节的加工路径.基于D-H表示法的思想,求解机器人正逆运动学方程来判断末端执行器的运动轨迹,从而进行机器人的运动学仿真.使机器人末端执行器实现字符"ME"轨迹,展示具体应用方法,得出了机器人的运动轨迹,为自由曲面自动化抛光处理更加智能高效提供了理论依据.%In order to improve the quality of free curved surface, we propose a robot motion model for planning the machining path of each joint.The idea of D-H notation is introduced to solve the robot inverse kinematics equation for the trajectory of the end of the actuator, thus achieving the robot's kinematics simulation.The robot end executor performs a character "ME" trajectory to show the concrete application.The trajectory of the robot provides theoretical basis for more intelligent and efficient free-form surface polishing treatment automation.
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