关节型码垛机械手运动学分析及仿真

Kinematics Analysis and Simulation for Articulated Palletizing Robot

根据关节型码垛机械手的结构特点,运用D-H方法建立机械手的运动学模型,并对其进行位姿、速度正反问题的分析和求解,得到关节型码垛机械手的雅可比矩阵和逆雅可比矩阵,在此基础上运用ADAMS软件对机械手码垛过程进行仿真,得到关节扭矩、关节角速度曲线,并利用仿真结果完成伺服电机的选型,为控制系统研制提供依据。

Based on the mechanical structure of the articulated palletizing robot,the robot＇s kinematic model is established with D-H methods,including researching positivenegative pose and velocity problem,so as to get the palletizing robot＇s Jacobian and inverse Jacobian,then based on above,robotic palletizing operation is simulated with ADAMS,accordingly get joint torque,angular velocity curve,and the servo motor＇s selection is completed with simulation results,which gets ready for researching the control system.