关节型码垛机器人轨迹规划及运动学研究  

Research on Trajectory Planning and Kinematic Analysis of Palletizing Robot

作　　者：郭瑞峰[1] 李岩鹤 史世怀 

机构地区：[1]西安建筑科技大学机电工程学院,陕西西安710055

出　　处：《机械设计与制造》2017年第1期76-78,82,共4页Machinery Design & Manufacture

摘　　要：为了使关节型码垛机器人运动更加精确、流畅、连续、平稳的码放货物,提出了基于双平行四边形机构码垛机器人的轨迹规划及运动学分析方法。根据D-H法建立运动学模型,并对其进行反解。采用"5-3-5"轨迹规划法,将各关节运动轨迹分为三段,使用不同低阶多项式对各轨迹段进行插补。利用MATLAB进行运动学仿真分析,并生成关节角、角速度、角加速度变化曲线。利用拉格朗日方程推导各关节驱动力矩,保证各关节按照期望的角速度和角加速度运动。为实现关节型码垛机器人轨迹规划提出一种新的方法。In order to create a more accurate,smooth, continuous and stable of moving which is applied to the manipulator of the new industrial palletizing robot.A new trajectory planning method and kinematics analysis method based on double parallel quadrilateral mechanism of palletizing robot is put forward. ＂5-3-5＂ method is used to divided the trajectory into three sections,and then every section is interpolated with different low order polynomial.Using MATLAB to model and analyze the kinematics equation, and draw the angular velocity and angular acceleration curve.Lagrange is used to deduce the driving torque of each joint, and ensure the joint in accordance with the desired angular velocity and angular velocity.A new method is proposed to palletizing robot for tranjectory planning.

关 键 词：码垛机器人 D-H法 5-3-5法 MATLAB 拉格朗日 

分 类 号：TH16[机械工程—机械制造及自动化]