码垛机器人机构设计与运动学研究

Stacking robot kinematics design and research institutions

针对物流自动化行业中对箱包高速码垛的需求,研制了一种码垛机器人机构。并依据搬运机器人的性能要求,设计一种四自由度的码垛机器人。重点对码垛机器人的运动学分析了研究,推导运动学正反解方程及最大工作空间的判断且规划了运动路径,在运动过程中通过码垛关键参数的输入和码垛空间的判断,最后进行了图形仿真,验证了运动轨迹的正确性,实验结果证明所设计的机器人已可满足在物流自动化的目标要求。

In accordance with the requirement of robot palletizer in logistics automation technology, a universal robot palletizer is designed based on the functional requirement. The focus of the campaign path palletizing robots have been studied,sought the pros and cons of the location work space and the largest judgment and the development of robot to stack the path planning. During the campaign process by stacking the key parameters of inputting and stacking space judgment,a final graphic simulation,verification of the correctness of the trajectory,the experimental results show that the robot has been designed to meet the objectives of the logistics automation requirements.