曲房轨道移动码垛机器人运动学分析与仿真

Kinematics Analysis a Simulation for a Track Mobile Palletizing Robot in Koji Workshop

针对曲房架子制曲工艺人工翻曲劳动强度大的问题,研发轨道移动码垛机器人,代替人工进行曲块自动搬运与多点多工位码放。运用Solid Works建立轨道移动机器人的三维结构模型,以D-H法建立其空间关节坐标系并确定杆件参数,建立机器人的正逆运动学模型并推导正逆运动学方程;通过MATLAB Robotics Toolbox对机器人作运动学分析和仿真,验证了连杆参数设计的合理性和运动算法的正确性,为机器人动力学、控制和轨迹规划的研究提供了必要的基础数据,为实际物理样机的研制提供技术依据。

For the problem of the labor intensity of the manual turning koji of shelf koji-making process in koji workshop, a track mobile palletizing robot was developed to complete koji＇s automatically carrying and multi-point multi-station palletizing. Solid Works was used to design three-dimensional structure of the track mobile palletizing robot, the space joint coordinate system was established by using the D-H method, by which the link parameters were determined, and the robot forward and inverse kinematics model were established as well as its kinematics equations were obtained. MATLAB Robotics Toolbox was applied in the manipulator＇s kinematics analysis and simulation, and the rationality of the link parameters＇ design and the correctness of the algorithm were verified, the necessary basic data was provided for study on robot dynamics, control and trajectory planning, and technical basis was also provided for the development of the physical prototype.