混联码垛机器人运动学分析与仿真  

Kinematics Analysis and Simulation of the Hybrid Stacking Robot

作　　者：刘扬[1] 高志慧[1] 贠超[1] 李一吾[1] 

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100191

出　　处：《机械与电子》2010年第3期57-60,共4页Machinery & Electronics

摘　　要：针对码垛作业任务要求,设计了一种混联码垛机器人结构;为了简化机器人运动学方程的建立过程,根据机器人的特殊结构,把机器人的并联部分看作一个整体,以串联结构代替并联结构,应用D-H法建立了机器人的运动学模型,并给出了逆运动学方程.最后,应用Solid Works软件建立了机器人的三维实体造型,并用ADAMS软件进行了运动学仿真,验证了理论分析的正确性.Based on the requirements of stacking operations, a hybrid stacking robot structure was designed firstly. Then, in order to simplify the building process of kinematics equations, according to the robot＇s special structure, the way to treat the parallel structure of the robot as a whole and to replace it by the tandem structure was used to estab- lish the kinematics model of the robot with application of D- H,and the inverse kinematics equations were also given. Finally, the 3D - SolidWorks model of the robot was built, and the kinematics simulation of the robot was given with the application of ADAMS to verify the correctness of the theoretical analysis.

关 键 词：混联码垛机器人 并联结构 运动学方程 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]