智能堆垛叉车三向属具的运动学建模和验证

Kinematics Modeling and Validation for Three-way Fork of Intelligent Stacking Forklift

为优化智能堆垛叉车的三向属具的控制方法,对三向属具进行运动学建模及仿真分析。搭建三向属具的实验平台,基于D-H建模方法,建立了三向属具的数学模型,运用Robotics Toolbox作为分析工具,通过仿真和实验开展平台的正、逆运动学分析及验证。实验结果表明:逆运动学结果与正运动学设定的关节变量中垂直方向的移动关节变量误差为0.1%、水平方向的移动关节变量误差为1.5%、转动变量误差为1.1%,验证了所建的三向属具平台数学模型的正确性。该研究为智能叉车三向属具准确有效控制提供了参考。

In order to optimize the control method of three-way fork of intelligent stacking forklift,this article carried out a kinematic model of the three-way fork and did a simulation analysis.Based on the cross slide the experimental platform of the three-way fork was setting up.Three dimensional mathematical model was built by D-H method.The accuracy of model of the three-way fork was verified through the mutual authentication of the forward kinematics and inverse kinematics by the Robotics Toolbox.The results show that prismatic joint of vertical direction error in obverse and inverse kinematic analysis is 0,and prismatic joint of horizontal direction and rotate error respectively are 1.5%and 1.1%,which verifies the correction of the mathematical l model of the three-way fork.This paper provides a reliable reference for the research of controlling three-way fork.