码垛机器人的本体结构设计及运动学分析.doc


码垛机器人的本体结构设计及运动学分析
史艳国1,2,李宗龙1,2,张庆玲1,2*
(1. 燕山大学先进锻压成型技术与科学教育重点实验室,河北秦皇岛 066004;
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2. 燕山大学河北省并联机器人与机电系统实验室,河北秦皇岛 066004)
摘要:本文对码垛机器人的机械本体结构进行设计并对其进行运动学分析。首先根据码垛机
器人的工作任务和目的,在查阅大量资料的基础上设计出了码垛机器人的本体结构。然后利
用 D-H 方法得到码垛机器人的运动学模型,在确定其边界条件的基础上推导出码垛机器人的
运动学方程。通过 MATLAB 对工作空间进行仿真,得到工作空间的三维图及截面图,证明了
工作空间满足任务空间。最后运用 Solidworks 进行运动学仿真,证明码垛机器人本体结构
设计和运动学分析是正确的。
关键词:码垛机器人;结构设计;运动学分析
中图分类号:
Body Structural Design and Kinematic Analysis of the
Palletizing Robot
SHI Yanguo1,2, LI Zonglong1,2, Zhang Qingling1,2
(1. Yanshan University Advanced Forging Technology and Science Key Laboratory of the
Ministry of Education Mechanical and Electronic Engineering, Qinhuangdao Hebei 066004;
2. Hebei Province Yanshan University Parallel Robot and Electromechanical System Laboratory,
Qinhuangdao Hebei 066004)
Abstract: In this paper, mechanical body structure of the palletizing robot was designed and
kinematics was analyzed. First of all, on the basis of mass data reading, the body structure was
designed according to the work assignment and objective of the palletizing robot. Then, the
kinematic model was built by D-H method. The kinematic equation was derived based on
determining the boundary conditions. At the same time, the paper also simulated the working
space via software Matlab, got the three-dimension graph and the section diagram of