基于电气传动的三自由度码垛分拣机械手设计研究

Research on the Design of 3-DOF Palletizing and Sorting Manipulator with Electric Drive

在满足工业生产需求的前提下,针对传统关节式结构的码垛机械手设计成本高、控制难度大、结构复杂等特点,该文设计了一种结构简单、运动灵活、性价比较高的三自由度直角坐标型码垛分拣机械手。首先,以Solidwork软件设计出三维模型,介绍了机器人整体组成结构和技术指标;其次,设计了控制系统总体方案,并对硬件和软件进行设计和选型;最后,利用MCGS软件设计人机交互界面,并搭建实验平台进行实验测试。试验结果表明,该文设计的三自由度直角坐标型码垛分拣机械手能够很好地完成码垛分拣,验证了该文设计的三自由度直角坐标型码垛分拣机械手的合理性和有效性。

On the premise of meeting the needs of industrial production,aiming at the characteristics of traditional articulated structure of palletizing manipulator,such as high design cost,difficult control and complex structure,this paper designs a three degree of freedom rectangular coordinate palletizing and sorting manipulator with simple structure,flexible movement and high cost performance.First of all,a three-dimensional model is designed with SOLIDWORK software,and the overall composition structure and technical indicators of the robot are introduced;secondly,the overall scheme of the control system is designed,and the hardware and software are designed and selected;finally,the human-computer interaction interface is designed with MCGS software,and an experimental platform is built for experimental testing.The experimental results show that the three degree of freedom rectangular coordinate palletizing and sorting manipulator designed in this paper can complete the palletizing and sorting well,and verify the rationality and effectiveness of the three degree of freedom rectangular coordinate palletizing and sorting manipulator designed in this paper.