中文摘要：

针对某大型激光器装置的装校过程模块化、阵列化及超洁净工作环境等特点,分析了洁净精密装校机器人的轨迹规划和智能化无人装校的实际需求,提出了＂轨迹取点→单关节变化PTP规划→初步轨迹拟合→基于时间和防抖动轨迹优化＂的轨迹规划思路和方法。根据该机器人结构特征,应用D-H法建立坐标系,完成了运动学正逆解分析。基于运动学位姿方程,按照机器人作业规划流程,完成了洁净精密装校机器人安装一个模块的轨迹规划和优化,并运用MATLAB 2008绘制了具体轨迹曲线。最后运用Pro/E 4.0进行了机构运动学仿真验证,验证表明洁净精密装校机器人在无人工干预及超洁净环境下可实现高洁净、高精密装校。

英文摘要：

A demand on trajectory planning or further intelligentized and pilotless delivery for super-dean and precise delivery robot manipulator was put forward to fulfill its super-clean working environment and modules＇ regular placement, moreover, a new ＂take some special trajectory points→PTP trajectory planning with single joint→primary trajectory assemble→optimization for trajectory smooth and working time optimal＂ trajectory planning method is presented. Built a suitable coordinates of the robot with （D-H） method, and the forward and inverse kinematics equations have been analyzed according to the structure of the robot. According to the kinematics equations and the steps of robot delivery, a module＇s delivery trajectory has been presented and optimized, and the graph has been drawn with MATLAB 2008. Finally, the Robot delivery process is simulated with Pro/E 4.0, and it support that the robot manipulator pilotless deliver in the super-clean environment with good properties.