中型货物拆零机械臂结构设计与运动规划

Structural Design and Motion Planning of Disassembling Manipulator for Medium-sized Cargo

针对大型立式仓库货物拆零搬运的需求,研制了一款具有特殊结构的拆零机械臂。该机械臂仅具有单一自由度,但实现了货物的拆解和远距离的搬运。为了减少拆解和远距离搬运过程中机械臂因刚度问题引发的较大变形,利用工程中常见的斜拉结构对机械臂进行优化,以达到机械臂在运行过程中的精度要求。通过对机械臂建立三维模型以及利用简化后建立的数学模型,对机械臂的运动状态以及力学性能进行了分析,验证了斜拉索在机械臂中运用的合理性。由于斜拉结构产生的冗余自由度,使得双电动机在控制过程中必须协同工作,对电动机的控制提出了要求。但是,增加斜拉的机械臂大大节约了结构占用的空间,减少在运行过程中的运动包络,能够很好地适应在立式仓库中的复杂环境,从而具有了一定的广谱性。

A disassembling manipulator with special structure is developed for the needs of disassembling handling of large vertical warehouse goods.The manipulator has only a single degree of freedom,enabling disassembling and long-distance handling of the cargo.In order to reduce the large deformation caused by the stiffness problem of the manipulator during disassembling and long-distance handling,the manipulator is optimized by using the cable-stayed structure commonly used in engineering to achieve the accuracy requirements of the manipulator during operation.The three-dimensional model of the manipulator and the mathematical model established by the simplification are used to analyze the motion state and mechanical properties of the manipulator,and the rationality of the cable-stayed structure in the manipulator is verified.Due to the redundant degree of freedom generated by the cable-stayed structure,the dual motors must work together in the control process,and the control of the motor is required.However,the addition of the cable-drawn manipulator greatly saves the space occupied by the structure,reduces the motion envelope during the running process,and can well adapt to the complex environment in the vertical warehouse,thus having a certain broad spectrum.