悬挂式协作机器人设计与分析

Design and Simulation of Suspension Cooperative Robot

针对老年人独处晾晒衣物困难的问题,基于人机协作的特点及要求,研究设计一种悬挂式协作机器人,其主要由机械臂和末端手爪等部件组成,机械臂由两关节构成,采用Matlab软件求解协作机器人的运动空间云图;基于指数积公式,求解悬挂协作机器人的运动学方程;依据机器人的工作流程,采用UG软件对其进行运动仿真分析,求解其位移和加速度随时间的变化规律;最后,采用PLC对其进行控制研究,获取机器人的控制信号,为协作机器人的设计研究提供一种理论基础。

Aiming at the difficulty of drying clothes alone for the elderly,a hanging cooperative robot is studied and designed,based on the characteristics and requirements of man-machine cooperation,which is mainly composed of a mechanical arm and a terminal claw. The mechanical arm is composed of two joints. The motion space cloud of the cooperative robot is solved by using MATLAB software.The kinematics equation of the suspended cooperative robot is solved based on POE. According to the workflow of the robot,its motion is simulated by UG software,and the law of displacement and acceleration changing with time is solved. Finally,the control system is solved by PLC,which provides a new idea for the design and research of the cooperative robot.