缸套类产品自动生产线的上下料机械手运动学设计

Kinematics Design of Loading and Unloading Manipulator for Liner Products' Automatic Production Line

针对缸套类零件生产线的特点,设计了上下料搬运机械手,分析了其工作流程,并进行了机械手的运动学设计。在建立上下料机械手各杆件的D—H坐标的基础上,构建了五自由度机械手的运动学模型,实现了笛卡尔坐标空间到关节空间的运动变换,通过运动学方程求解得到了正向运动学解,确定了机械手雅克比矩阵和关节速度。

According to the characteristics of liner production line, designed a loading and unloading handling robot, analyzed its work processes, and designed the kinematics of the robot. On the basis of the establishment D-H coordinates of loading and unloading Manipulator＇s each rod, constructed the manipulator＇s five degrees of freedom kinematic model, transformed Cartesian coordinate space to the joint space, equations obtained b~~ the forward kinematics kinematic solution to determine the manipulator Jacobian matrix and joint ~,elociW.