新型码垛机器人的结构设计与运动学分析

Structure Design and Kinematics Analysis of New Type of Palletizing Robot

针对物流行业的搬运码放作业,文章设计了一种新型机器人机械结构,可使机器人码放货物更加准确、平稳,同时能够使机械臂实现轻量化,在同等条件下承载能力更强,提高了整机稳定性;运用解析几何法对该机器人的机构进行了详尽的运动学分析,给出了运动学正解方程,对空间位姿确定及后续的轨迹规划具有重要意义;运用Solid Works及ADAMS对机器人进行了三维建模、运动轨迹规划和仿真分析,得到的曲线验证了数学推导的正确性,对后续机器人的控制系统设计意义重大。

For handling and packing operations of the logistics industry,a new robot mechanical structure is designed and the robot can pack goods more accurately,smoothly,and can achieve lightw eight arms. In the same condition,greater carrying capacity is got and it improves the machine stability. M aking a detailed analysis of the robot kinematics agencies using the analytical geometry method,and the kinematics equations are given to determine the space position and trajectory planning. M aking the modeling and motion simulation analysis,using Solid Works and ADAM S,and the curve proves the correctness of the mathematical derivation,and it is significant for the control system design of the robot.