吸盘式皮革抓取搬运机器人的设计与仿真分析

Design and Simulation Analysis of Suction Cup Leather Grasping and Handling Robot

针对现阶段皮革生产行业各工序之间的皮革抓取搬运难题,为提高皮革生产效率,减轻工人劳动强度,本文设计出一款吸盘式皮革抓取搬运机器人。通过对皮革的物理特性和最佳抓取点分析后,利用负压吸盘原理设计出皮革抓取搬运专用末端执行器,通过对抓取过程受力分析后,合理选用负压吸盘尺寸。根据D-H法建立机械臂的运动学模型,求解末端执行器的位置方程,并借助Matlab利用蒙特卡洛法分析出机器人的工作空间云图。最后利用ROS系统搭建机器人仿真环境,对机器人在绷板干燥环节的作业情况进行仿真模拟。结果表明,所设计的吸盘式皮革抓取搬运机器人可完成对皮革的抓取搬运作业,且运行过程稳定可靠,对推进皮革行业的自动化发展具有积极意义。

Aiming at the problem of leather grasping and handling between various processes in the leather production industry at this stage,in order to improve the leather production efficiency and reduce the labor intensity of workers,a suction cup leather grasping and handling robot was designed.After analyzing the physical properties of leather and the optimal grasping point,a special end effector for leather grasping and handling was designed by using the principle of negative pressure suction cup.According to the D-H method,the kinematic model of the manipulator was established,the position equation of the end effector was solved,and the cloud map of the robot's workspace was analyzed by the Monte Carlo method with the help of Matlab.Finally,the ROS system was used to build a robot simulation environment to simulate the operation of the robot in the drying process of the stretcher.The results show that the designed sucker-type leather grasping and handling robot can complete the grasping and handling of leather,and the operation process is stable and reliable,which has positive significance for promoting the automation development of the leather industry.