工业码垛机器人运动学仿真  

Kinematics Simulation of Industrial Palletizing Robot

作　　者：孙祥溪[1] 罗庆生[1] 苏晓东[1] 

机构地区：[1]北京理工大学机电学院,北京100081

出　　处：《计算机仿真》2013年第3期303-306,371,共5页Computer Simulation

摘　　要：码垛机器人的运动学分析是实现码垛控制的前提和基础。针对码垛机器人的结构特点,运用空间几何方法对码垛机器人的运动学特性进行理论分析,建立驱动关节与末端执行器的映射关系。利用INVENTOR和ADAMS软件建立了码垛机器人参数化虚拟样机模型,进行运动学仿真。同时,对码垛机器人码垛轨迹仿真优化。实验结果证明,新型工业码垛机器人具有良好的运动学特性,符合现代码垛作业的要求。新提出的机器人仿真分析方法,对进一步提高码垛机器人技术的设计水平,具有促进和借鉴作用。Kinematics simulation of the palletizing robot is the premise and the base of robot control. According to the structural features of the palletizing robot, the kinematics simulation of the palletizing robot was done by space ge- ometric method and the mapping relation between drive joint space and end effector was founded. The virtual proto- type of the palletizing robot was established by INVENTOI~ and ADAMS software and the kinematics characteristic of the robot was simulated. The experimental results prove that the new kind of palletizing robot has a good kinematics characteristic, which meets the palletizing request. The robot simulation analysis method explored in this paper pro- motes the research of palletizing robot.

关 键 词：码垛机器人 虚拟样机 运动学仿真 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]