自动包装机机器人手臂系统建模  

Modeling and Simulation of Two Degree-of-freedom Automation Packing Rigid Robot System

作　　者：徐伟君[1] 邵陆寿[1] 王川[1] 刘后广[1] 

机构地区：[1]安徽农业大学工学院,合肥230036

出　　处：《包装与食品机械》2006年第6期14-17,共4页Packaging and Food Machinery

摘　　要：包装机械自动化水平日益提高,为了实现各种复杂的包装,利用机器人手臂模拟人手的运动已日益迫切。论文运用了基于插值样条函数的轨迹规划法,机器人手臂拉格朗日动力学方程建立了系统数学模型,为自动包装机机器人手臂系统设计提供了新思路。The leve of packing automation increase rapidly. To realize different complex packing, using the rigid robot system to simulate the movement of human hands is just needed. This paper using trajectory planning based on spline function, rigid robot Lagrangian kinetics set up system mathematical model. This method offers a new thought way for designing automation packing rigid robot system.

关 键 词：自动包装机机器人手臂 建模 轨迹规划 拉格朗日动力学方程 

分 类 号：TB486.3[一般工业技术—包装工程]