码垛机器人运动学分析

Kinematics Analysis of Palletizing Robot

针对四自由度码垛机器人采用的四连杆机构进行结构分析,利用D-H法建立机器人运动学模型进行运动学分析,包括机器人的正运动学、逆运动学、作业空间和灵活性的分析,利用MATLAB软件进行了作业空间的仿真,并在实验室环境下对码垛样机进行了试验验证,试验结果验证了机器人作业空间和工作能力的可行性。

Structure analysis of four--bar linkage adopted in four--DOF palletizing robot is carried out. In the meanwhile, the kinematics analysis of the robot kinematics model established through D--H method is carried out, including the analysis of forward kinematics, inverse kinematics, working space and flexibility. Furthermore, simulation of working space is accomplished by taking advantage of the software MATLAB, and experimental verification of palletizing prototype under laboratory environment is also carried out, the feasibili- ty of the robot working space and operational capability is verified.