禽蛋吸运分级机械手运动学分析  

Kinematics Analysis of Grading Robot for Eggs Suction and Transportation

作　　者：张兴国[1,2] 倪远征[2] 

机构地区：[1]南通大学杏林学院,江苏南通226000 [2]南通大学机械工程学院,江苏南通226019

出　　处：《机械与电子》2011年第9期59-61,共3页Machinery & Electronics

基　　金：南通大学杏林学院自然科学基金项目(2010K127);南通大学机械工程学院自然科学项目(2010002)

摘　　要：通过对禽蛋吸运分级机械手的结构组成、技术参数等的分析,采用D-H法建立了机械手的连杆坐标系,得到机械手的杆件几何参数和关节变量,进而推导出其运动学方程,为机械手的轨迹规划、运动控制提供数学模型基础,便于更好地对其进行开发利用,实现禽蛋检测的分级吸运。After analyzing the system structure, technical parameters of grading robot for eggs suction and transportation, the local coordinate system of the robot links was established based on the D - H transformation matrix. The geometrical parameters of the links and variables of the joints were gained. And more, the kinematics equation providing mathematic model for path planning and motion controlling of the robot was ratiocinated here. It is propitious to utilizing the robot system and promoting the using of eggs grading, suction and transportation.

关 键 词：禽蛋分级 机械手 连杆坐标系 运动学方程 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]