摘要模块化作为一种新的设计方法，已广泛应用于产品的设计与开发中。依据一定的原则将工业机器人划分成具有不同性能的独立关节模块，在工业现场可以通过这些模块快速组装成最适合于任务需求的机器人。相比传统工业机器人，关节模块化工业机器人具有重构性好、冗余度高、灵活性高、容错能力强、装配方便和易于维护等优点，同时缩短了开发周期，降低了生产成本，应用前景广阔。本文设计了一套模块化关节机器人，来构造不同的模块化机器人关节，并且熟悉了机器人的运动学数学模型，基于模块化建模方法开发运动学正逆解函数库。最后利用VC++6.0的OpenGL语言包开发上位机软件，建立模块化机器人关节的图形库和数据库，提供用户友好的接口，方便用户基于模块柔性建立机器人，基于用户建立的模块化机器人，实现运动学控制及仿真。63963

毕业论文关键词：  模块化；关节机器人；运动学正逆解；模拟仿真

 毕业设计说明书（论文）外文摘要

Title The Establishment and Simulation of Graphics Library of Modular Joint Robot

Abstract As a new design method, modularity has been widely applied to product designing and development. Industrial robots can be separated into independent modules according to certain principles of with different properties, and in the industrial field these modules can be quickly assembled into the robot that is most suitable for the mission requirements. Compared to traditional industrial robots, those with modularized joints have several advantages of good reconstruction property, high redundancy, high flexibility, good fault-tolerant capability, ease of assembly and ease of maintenance, etc. Meanwhile these robots can shorten the development cycle, reduce production costs, and have broad application prospects. This paper presents a modular robot joints to construct different modular joints, and are familiar with the mathematical model of robot kinematics, and based on a modular modeling method we developed forward and inverse solution function library of kinematics library. Finally using the OpenGL language pack of VC + +6.0, we developed PC software, established graphic library and database of modular robot joints, and provided a user-friendly interface, which is convenient for users to build robots based on module flexibility, and also achieved kinematics control and simulation.

Keywords  modularity；Joint robot；kinematics；analog simulation

1 绪论 2

1.1研究背景及意义 2

1.2 国内外相关领域研究现状 3

1.3 本文研究内容介绍 6

2 关节单元库的设计与建立 6

2.1 引言 6

2.2 关节单元的划分 6

2.3 关节单元的结构设计 9

2.4 本章小结 11

3 关节单元化的机器人运动学分析 11

3.1 引言 11

3.2 关节单元化机器人运动学方程的建立 12

3.3 齐次坐标描述及变换 13

3.4模块的齐次变换矩阵 18

3.5关节单元化机器人的运动学 24

3.6 本章小结 26

4 基于OpenGl的模拟仿真 26

4.1 引言