一种三自由度搬运机器人的设计

Design of a 3-DOF handling robot

针对铁线冲压的原料及成料搬运自动化改造问题,分析其功能需求后设计一款三自由度机器人。分别对该型号三自由度机器人进行机械结构设计、运动学分析及工作空间分析。根据pick-and-place动作路线设计门字型运动轨迹并基于工作空间进行轨迹规划。采用Solidworks软件的Motion功能对机器人模型进行运动学仿真,并且基于LabVIEW软件编写运动控制程序。根据仿真结果可知,该型号机器人能够在工程设计指标内实现目标任务,为生产线的自动化改造提供理论基础。

Aiming at the problem of automatic transport of raw material and finished material handling in iron line stamping,a 3-DOF robot was designed after analyzing its functional requirements.The mechanical geometric design,kinematics analysis and workspace analysis of the 3-DOF robot were carried out.According to the pick and place action route,the gate shaped trajectory was designed and the trajectory was planned based on the workspace.The kinematics of the robot model was simulated by using the motion function of Solidworks software and programming it's motion control program based on LabVIEW software.According to the simulation results,the robot can achieve the target task within the engineering design index,and provide a theoretical basis for the automatic transformation of the production line.