基于Matlab六自由度自动配药机械手设计研究

Research of 6-DOF Automatic Dispensing Robot Based on Matlab

针对人工配药的精确度较低及部分有毒药剂会对操作人员身体造成影响的问题,本文应用D-H方法,建立了六自由度自动配药机械手运动学模型。利用Matlab中的robotics工具箱建立机械手三维模型,并应用Matlab对机械手摇匀药液过程进行运动学分析,同时在笛卡尔空间内进行轨迹规划仿真,确保药液摇匀过程的运动学参数满足机械手性能要求。仿真结果表明,该六自由度机械手末端运动轨迹符合预期规划,可以完成摇匀溶解西林瓶药液工艺过程,既能提高配药效率和精度,又能避免操作人员的人工操作所带来的伤害。该研究为后续的动力学分析及轨迹规划的关节控制提供了重要的理论依据。

In view of the lower accuracy of artificial dispensing and the impact on operator health from part of the toxic chemical, the kinematics model of 6-DOF automatic dispensing robot was established by Denavit- Hartenberg method in this paper. Firstly, 3D model was built by using Matlab/robotics toolbox. Secondly, ki-nematic analysis was made during the process of shaking medical bottle by robot and the simulation about traj-ectory planning was simulated in Cartesian space in Matlab in order that determined kinematic parameters of the robot can meet the performance requirements. Simulation results showed that the trajectory of the robot7s end- effector is in line with expectations and complete the dissolution of liquid in vials. Not only was the dispensing efficiency improved, but the damage caused by the manual operation was avoided. In addition, the study pro-vided an important theory for the subsequent dynamics analysis and joint control in trajectory planning.