袋装水泥装车机械手轨迹规划与运动仿真

Trajectory Planning and Motion Simulation of Bagged Cement Loading Manipulator

针对当今水泥生产企业在袋装水泥装载过程中存在的自动化水平不足,无法与前道工序相匹配,因而降低了生产效率这一实际问题,开发设计一种结构稳定、承载能力强、易于控制的袋装水泥自动装车机械手。利用复数矢量法对机械手的运动学进行正、逆解分析,并根据机械手的工作极限位置绘制出其工作空间的边界曲线,结合袋装水泥的实际装载要求,确定合理的码放顺序及推送轨迹。最后,利用ADAMS对机械手进行运动学仿真,验证了机构设计的合理性和轨迹规划的可行性,为机械手运动控制方面的研究提供了参考依据。

Lacking of automation in the process of bagged cement loading, and unable to match the previous procedure, has been a problem in today’s cement production enterprises ,which reduce the production efficiency. In view of this problem, a bagged cement automatic loading manipulator with stable structure, strong carrying capacity and easy control is designed. The complex vector method is used to analyze the kinematics of the manipulator, According to the limit position of the manipulator work to draw the boundary curve of the working space, combined with the actual bagged cement loading requirements, the reasonably stacking sequence and push trajectory is determined.Kinematics simulation of manipulator is carried out by using ADAMS, which verifies the rationality of mechanism design and the feasibility of trajectory planning, and provides a reference for the research of manipulator motion control.