四自由度混联码垛机器人运动学分析与仿真

Kinematics Analysis and Simulation of the 4-DOF Hybrid Stacking Robot

以四自由度混联码垛机器人为研究对象,介绍了移动关节与回转关节组合式串并联的混联机器人机构特点,分析了该机器人的运动学特征,求出了其位置正反解析解,利用运动影响系数矩阵对其速度进行了系统研究。最后应用Pro/E软件建立了该机器人的三维实体造型,并用ADAMS软件进行了运动学仿真验证。

Based on the 4-DOF hybrid stacking robot,it introduces the mechanism characteristics of the robot with two moving joints and two rotational joints,analyzes the manipulator and obtains the solutions of both the inverse and direct kinematics.Using the method of kinematic influencing coefficient matrix,it proposes the velocities.Finally,it builds the 3D model of the robot with Pro/E,simulates the kinematics functions with ADAMS.This verifies the correctness of the theoretical analysis.