酒箱码垛机器人的机构设计与运动仿真分析  

Mechanical Design and Motion Simulation Analysis of Liquor Automated Production Line Palletizing Robot

作　　者：张明[1] 何庆中[1] 郭帅[1] 

机构地区：[1]四川理工学院,自贡643000

出　　处：《包装工程》2013年第1期83-87,共5页Packaging Engineering

基　　金：自贡市科技局科技计划研究项目(2010Q03);泸州老窖科研奖学金(091jzk08);四川理工学院科研基金重点培育项目(2012PY08)

摘　　要：针对白酒生产线码垛作业,设计了专门的码垛机器人,利用平行四边形机构对码垛机器人进行了结构设计。再根据码垛机器人的结构特点,运用D-H法对运动模型进行了位姿和速度的正反解。在此基础上,利用ADAMS软件对机器人的运动过程进行了仿真,得到了关节扭矩、角速度和角加速度曲线,为后续工作的控制系统设计提供依据。According to the palletizing job of liquor production line,a special palletizing robot was designed by using parallelogram mechanism.The positive and negative solution of motion model pose and speed was solved using the D-H method according to the structural characteristics of palletizing robot.The robot motion process was simulated using ADAMS software.The torque,angular velocity,and angular acceleration curves of joints were obtained.The purpose was to provide basis for the control system design.

关 键 词：码垛机器人 运动仿真 雅可比矩阵 ADAMS 

分 类 号：TB486.3[一般工业技术—包装工程]