织网机自动换梭盘机器人运动仿真

Motion simulation of automatic replacement of the yarn coil robot for netting machine

为提高织网企业的生产效率和改善其产品质量,研发了先进的织网机。自动换梭盘系统是织网机的重要组成部分,该系统由自动换梭盘机器人和机器人末端执行机构组成。在织网机自动换梭盘系统的基础上,以织网机自动换梭盘机器人为对象,在MatLab中建立机器人仿真模型,调用Robotics Toolbox中的功能函数对该机器人的逆运动学进行仿真计算与轨迹规划仿真。结果表明:仿真结果符合织网机自动换梭盘机器人运动性能要求,为实现织网机自动换梭盘机器人的精确定位提供理论基础和重要数据。

In order to improve the production efficiency and improve the quality of the products,the advanced webbing machine has been developed.In this paper,based on the automatic replacement of the yarn coil system,the automatic replacement of the yarn coil robot;is taken as the object,the robot simulation model is established in MatLab,the inverse kinematics of the robot are simulated by using the functional function of MatLab Robotics Toolbox.Finally,the trajectory planning of the robot is carried out,which provides the theoretical basis and important data to realize the precise positioning of robot and optimizes the trajectory of the robot in the actual operating environment.