摘要
以码垛机器人机构为研究对象,将变胞机构的概念引入码垛机器人机构的设计,设计一种能够实现单自由度和两自由度间转变的码垛机器人机构,使其在两自由度时,具有可控机构的柔性控制特性,灵活实现码垛机器人抓取及装卸动作的精确定位,在单自由度工作式,具有较好的运动稳定性,实现码垛机器人稳定的搬运动作。应用邻接矩阵及旋量理论分析了该机构各构件间的连接与运动关系,为此类机构在工业机器人上的实际应用提供了一定参考。
The palletizing robot mechanism was investigated in this paper. The concept of the metamorphic mechanism is introduced into the design of palletizing robot mechanism, and a palletizing robot mechanism, which can realize the transformation between single degree-of-freedom state and two degrees-of-freedom state, was designed. When it is in the two degrees of freedom, it has characteristics of flexible control of controllable mechanism, and can realize the accurate positioning of the precise positioning of grabbing, loading and unloading of palletizing robot flexibly, It will be in good motion stability when it is in single degree-of-freedom working state, achieve handling action of the palletizing robot stably. The connection and movement relationship between the links of the novel mechanism are analyzed using the adjacent matrix and the screw theory. And some reference about this mechanism in the practical application of industrial robot is provided.
出处
《装备制造技术》
2013年第2期18-20,共3页
Equipment Manufacturing Technology
基金
国家自然科学基金资助项目(51265003)
教育部科学技术研究重点项目(212133)
关键词
变胞机构
码垛机器人
旋量理论
邻接矩阵
metamorphic mechanism
pailetizing robot
screw theory
adjacent matrix
