基于食品工业六轴机器人的设计与轨迹规划

Design and Trajectory Planning of Six Axis Robot Based on Food Industry

目前食品工业领域对机器人的灵活性、重复定位精度和运动的平稳性要求越来越高,根据这一要求设计一种关节机械臂串联的六轴机器人。介绍了其基本结构及其技术参数,然后对机器人的轨迹规划进行了研究,采用S曲线加减速结合直线插补和圆弧插补的算法,对机器人的空间直线插补和圆弧插补做了理论分析,并运用MATLAB进行了仿真分析。验证了算法的可行性,证明了该插补算法能有效地减小机器人启停时对电机和机械本体的冲击,为六轴机器人的控制策略的研究和轨迹规划的优化提供了理论依据。

At present,the food industry had higher and higher requirements on the robot’s flexibility,repeated positioning accuracy and motion smoothness.According to this requirement,this paper designed a six-axis robot with joint manipulator in series.The basic structure and technical parameters were introduced,and the trajectory planning of the robot was studied.Using S curve acceleration and deceleration combined with linear interpolation and circular interpolation algorithm,the spatial linear interpolation and circular interpolation of the robot were theoretically analyzed,and the simulation analysis was carried out by MATLAB.The feasibility of the algorithm was verified,and it was proved that the interpolation algorithm could effectively reduce the impact on the motor and the mechanical body when the robot started and stopped.It provided theoretical basis for the research of control strategy and trajectory planning optimization of six-axis robot.