码垛机器人机械手臂部特征及运动空间的研究  

Research on characteristics and movement space of palletizing robot mechanical arm

作　　者：董子房 尹成龙[1] 李新红[1] 

机构地区：[1]安徽农业大学工学院,合肥市230036

出　　处：《中国农机化学报》2014年第6期53-56,64,共5页Journal of Chinese Agricultural Mechanization

摘　　要：码垛机器人是自动化车间最常用的工业机器人之一。本文以某公司生产的四自由度码垛机器人的机械手为研究对象,就其运动原理、臂部结构特点及运动空间进行研究,并通过Matlab对机械手的三维工作空间进行仿真分析,仿真结果与机械手实际运行结果完全符合,所做工作对开展新型工业码垛机器人理论研究与实际应用探索具有重要意义。With the continuous development of logistics,food and petrochemical,palletizing robots play an increasingly important role in the industry.Robot end-effectors,which have a variety of changes with a corresponding twisted grasping hand,can grab or suck sacks,boxes,buckets to realize its palletizing function.The palletizing can be fulfilled accurately and efficiently with reduced labor intensity,which improves the production efficiency.The structure fea-tures,kinestate and movement space of a four DOF palletizing robot developed by our department were researched.The 3D workspace of the arm was simulat-ed by Matlab,the results was fully consistent with the robot＇s actual running.It has significant importance for the theory analysis and actual application ex-ploration of the new kind palletizing robots.

关 键 词：码垛机器人 末端执行器 自由度 位姿 运动空间 MATLAB仿真 

分 类 号：T-19[一般工业技术]