斜导面直线驱动关节机器人工作空间仿真及优化

Simulation and Optimization of Workspace of Inclined Guide Surface-articulated Robot Utilizing Linear Drives

目的针对一种新型并联式机构码垛机器人的工作空间进行仿真优化,并阐述其结构特征。方法利用数值方法通过Matlab软件编程求解运动学方程,得到工作空间三维图和二维截面图,在此基础上,进一步利用采样法对工作空间进行仿真计算,研究斜导面丝杠行程x、驱动臂丝杠行程y和结构参数c,h对工作空间的影响。结果增大丝杠行程x,y,斜导面机器人执行码垛动作有效工作空间高度增加,范围变大;增加结构参数c尺寸,工作空间横向（宽度）范围变宽;增加结构参数h尺寸,工作空间纵向（高度）范围升高。结论斜导面机器人并联结构存在非线性问题,即不能直接通过运动学方程研究结构参数对工作空间的影响。通过上述方法仿真得到丝杠行程x为50-320 mm、丝杠行程y为80-330 mm、结构参数c为200 mm、h为180 mm时,工作空间有效二维截面为一个450 mm×700 mm的矩形区域,且具有较好的工作空间位置分布,满足作业要求。

Objective To simulate and optimize workspace for a new parallel palletizing robot, and explore its structural characteristics. Methods Numerical method was used to get 3D and 2D figures of workspace by Matlab software, on this basis, sampling method was used to simulate the workspace, and the effects of the workspace on screw stroke x, y and the structural parameters c and h. Results When the screw stroke x, y was increased, the inclined guide surface robot had a higher and larger effective working space; when the size of structural parameters c was increased, the transverse（width） of workspace became wider; when the size of structural parameters h was increased, the longitudinal（height） of workspace became higher. Conclusion The nonlinear characteristics of the parallel structure, which means the effect of structural parameters on the workspace could not be studied through the kinematic equations directly. A rectangular area with 450 mm×700 mm of effective working space was obtained through the above methods, under the screw stroke x=50-320 mm, y=80-330 mm, and structural parameters c=200 mm, h=180 mm, and it had a good distribution workspace location to meet operational requirements.