码垛机器人结构设计与运动分析  

Structure Design and Kinematics Analysis of Palletizing Robot

作　　者：任雪鸿[1] 闫永志[2] 

机构地区：[1]西安铁路职业技术学院,陕西西安710014 [2]陕西科技大学,陕西西安710021

出　　处：《新技术新工艺》2014年第8期71-73,共3页New Technology & New Process

摘　　要：根据目前物流自动化对箱包等物料高速码垛的工作要求,确定了码垛机器人的基本技术指标,设计了四自由度关节型码垛机器人的机械结构。通过运动学分析得出了码垛机器人的运动学方程,并通过对运动学方程的逆解求出码垛机器人各关节的位姿,应用SolidWorks软件构建了码垛机器人的三维实体模型,进行模型装配,实现了码垛机器人码垛过程的仿真。对码垛机器人结构的设计与运动学分析可以为设计和生产码垛机器人提供借鉴。According to the work requirements of high speed pallet in logistics automation tecnnuiulf, y, u basic technical index of palletizing robot, and designed the mechanical structure oI four degrees of freedom joint palletizing robot. Got the kinematics equation of the palletizing robot which used static analysis, got the position of each joint through the inverse solution of kinematics equation, and built the three-dimensional entity model and model assembling of the palleti- zing robot used SolidWorks, which realized the simulation of the robot palletizing process. The work of structure design and kinematics analysis of palletizing robot provided reference for design and production of palletizing robot.

关 键 词：码垛机器人 运动学分析 SolidWorks设计 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]