面向牙刷操作的Delta机器人设计与轨迹规划研究

Design of Delta Robot for Toothbrush Operation and Research on Its Trajectory Planning

结合牙刷自动化生产的需求,研究面向牙刷高速拾放操作的Delta机器人。简化Delta机器人的结构模型,研究机器人正运动学和逆运动学求解方法。分析牙刷上料的工作流程,确定机器人结构参数,设计机器人本体结构以及末端执行器。采用弧线过渡的门字形轨迹,基于3-4-5次多项式运动规律对机器人进行轨迹规划,利用ADAMS软件进行动力学仿真。结果表明,机器人末端的速度、加速度曲线连续,主动臂驱动力矩曲线连续无突变,满足牙刷生产中高速拾放操作的性能要求。

According to the needs of automatic operation of toothbrushes,Delta robot for toothbrush pick and place operation is researched on.A simplified Delta robot structure model is eatablished,which is used to research on the solving method of positive and inverse motion of the robot.The structural parameters for the robot are determined and the robot body structure and end effector are designed based on the workflow of toothbrush loading.According to the trajectory planning of circular transition trajectory and 3-4-5 polynomial motion law,the dynamic simulation of the robot is done by using ADAMS.The result shows that the velocity and acceleration curves of the robot end and torque curves of the active arms are continuous without mutation.It meets the performance requirements of high-speed pick operation in the toothbrush production.