"关节型机器人腰部结构设计及运动学模型分析"

ction, and meet the actual working needs, this project designed an articulated robot for welding. According to the working requirements and structural characteristics of the robot, the overall design of the robot was carried out, the external dimensions and working space of the robot were determined, the overall transmission scheme of each joint of the robot was proposed, and the detailed design of the waist joint structure of the robot was conducted. The motors and gears were reasonably arranged, the transmission parameters of each level were determined, and the design calculations and verification of gears, shafts, and bearings were carried out. The forward kinematic model of the six-degree-of-freedom articulated robot was established using the homogeneous transformation matrix method, the homogeneous coordinate values of the robot end effector relative to the respective reference coordinate systems were obtained, and the correspondence between the position and posture of the robot end effector actuator in the Cartesian coordinate space and the joint variable values was established. The corresponding inverse kinematic model was derived based on the geometric projection principle, the angle values of each joint were obtained, and the mapping relationship between the joint space of the robot and the world space was established. This robot has the characteristics of good rigidity, high position accuracy, and stable operation. Keywords: articulated robot; pose analysis; overall design; waist structure design.