摘要
针对国内生产线传统码垛作业存在的不足,设计了一种四自由度串并混联式圆柱坐标型机械结构的码垛机器人。仿真分析了该机器人运动学模型,验证了其结构设计的合理性。分析并绘制了该机器人的工作空间,为机器人的动力学研究奠定了基础。建立了该机器人主杆机构的力学模型,通过对主杆机构进行静力学分析,得出该机器人具有良好的平衡性能等结构特点。通过对主杆机构进行动力学分析,为机器人进一步优化和控制系统的设计提供了参考依据。
A four-degree of freedom (DOF) serial-parallel mechanical structure of cylindrical coordinate palletizing robot was designed in view of the shortcomings of traditional palletizing operation in domestic production line. The kinematics model of the robot was simulated and analyzed, and the rationality of the robot structure design was verified. The workspace of the robot was analyzed and drawn, which laid a foundation for the kinetic study of the robot. The mechanical model of the main rod mechanism of the robot was established and the static analysis was carried out. It is concluded that the robot with this configuration has good balance performance and other structural characteristics. The kinetic study of the main rod mechanism provides a reference for the further optimization and control system design of the robot.
作者
王哲哲
张志强
WANG Zhezhe;ZHANG Zhiqiang(Mechanical Electrical Engineering School, Beijing Information Science & Technology University, Beijing 100192, China)
出处
《北京信息科技大学学报（自然科学版）》
2019年第2期87-91,共5页
Journal of Beijing Information Science and Technology University
关键词
码垛机器人
结构设计
运动学
工作空间
力学分析
Palletizing robot
Structural design
Kinematics
Workspace
Mechanical analysis
