混联码垛机器人运动学分析及仿真

Kinematics analysis and simulation of series-parallel palletizing Robot

提出了一种能实现手部空间三维移动及一维转动的混联码垛机器人机构——4自由度码垛机器人机构。分析了该机器人运动学特性,通过参考坐标系单独求解和齐次变换法求解相结合的方式,获得了末端操作器的位置、速度、加速度正反解。并提出了结构尺寸优化方法,使该机构位置正解得到简化,运动学解耦,计算量小,便于该机器人运动控制设计、运动轨迹规划和驱动力实时控制。给出了该机构一般输入时机械手的位置、速度、加速度仿真曲线,描述了该机器人机构的运动学特性。

In this paper,a kind of 4 DOF palletizing robot mechanism,the series-parallel palletizing robot mechanism that can realize three-D translation and one-D rotation,was proposed.The kinematics characteristic of this robot was investigated.By combining solving solely through reference coordinate system with homogeneous transformation solution,both of inverse and direct solution for the position,velocity and acceleration of the end manipulator were obtained.The method for optimizing robot＇s physical dimension was proposed,which simplifies the direct solution of mechanism＇s position,uncoupled kinematics solutions and reduces calculation amount.This makes it easy for the robot movement control design,movement track planning and driving force real-time control.The simulation curves of manipulator＇s position,velocity and acceleration when common input for this robot were given,describing t he kinematics characteristic of this robot.