摘要
随着企业的集团化和生产能力的规模化,对码垛机器人工作能力的要求不断提高,高性能、低成本的码垛机器人将具有广阔的应用市场。针对企业的要求,设计了一种四自由度的混联码垛机器人,即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。对机器人的机构选型设计进行了概述,并分析了机器人的最大工作空间,建立了运动学方程,通过推导得到了腕部的位置方程式,通过对其重要参数的输入,得到了工作空间的仿真曲线。
Grouping of enterprise and scale of throughput,the requirements for the palletizing robot＇ability is steadily going up,the high-powered and low-cost palletizing robot will have a wide market.Requirements for enterprise,a kind of mixed-connection palletizing robot mechanism which can realize three-D translation and one-D rotation was proposed.The choice and design of mechanism is summarized in this text,and the maximum working space is analysed,kinematics equation is built,the position equation of carpus is obtained by derivation,the simulation lines is obtained through input parameters.
出处
《机电产品开发与创新》
2011年第1期18-20,共3页
Development & Innovation of Machinery & Electrical Products
关键词
码垛机器人
运动学模型
最大工作空间
仿真曲线
palletizing robot
kinematics model
maximum working space
simulation lines
