并联水泥装载机器人运动学研究

Kinematic Study of Cement Load in Parallel Robot

针对当今水泥装载行业的实际需要,提出一种自动水泥装载机器人,并设计开发出一种结构简单、驱动部件少、控制简单的并联水泥搬运机器手。介绍了该机器人的整体结构方案,确定该机器人的可行性与实用性。介绍了并联搬运机械手的基本结构组成并计算自由度,验证了该机构运动的确定性,并建立了运动学数学模型,得出其位置、速度及加速度的运动学逆解解析形式。通过运动学分析,为驱动机械手的伺服电机合理选型及机构的设计和进一步优化提供了参考。

According to the practical needs of today's loaded cement industry,a new automatic cement loading robot was presented.A simple structure,fewer driving parts,control of parallel cement handling robotic arms were designed and developed.The scheme of overall structure of the robot was introduced so as to determine the feasibility and practicality of the robot.The basic structure of parts for parallel cement handling robotic arms was introduced,the degrees of freedom( DOF) were calcaulated,and the mechanism was proved of a deterministic.The kinematics mathematical models were established to obtain its position,velocity and acceleration of inverse kinematics in analytical form.By the kinematic analysis,the reference is provided to correct selecting of servo motors driving the manipulator and to design and further optimization of the manipulator.