码垛机器人工作空间合理度量化评价方法及应用  

Quantitative evaluation of working space rational degree of stacking robot and its application

作　　者：燕培磊[1] 卢剑伟[1] 马树全[1] 

机构地区：[1]合肥工业大学汽车与交通工程学院,安徽合肥230009

出　　处：《合肥工业大学学报（自然科学版）》2017年第7期883-887,共5页Journal of Hefei University of Technology：Natural Science

基　　金：教育部新世纪优秀人才支持计划资助项目(NCET-10-0358)

摘　　要：文章提出了一种对四自由度码垛机器人工作空间合理程度进行量化评价的方法。应用D-H法建立待评价机器人坐标系,将最小长方体任务空间转化为子午面内矩形任务空间,对比分析机器人实际工作空间与矩形任务空间的偏差,并结合对于工作空间利用效率的考虑,提出了应用工作空间利用率及左侧轮廓斜率绝对值评价机器人工作空间合理程度的方法。算例验证表明,该评价方法有效,相关方法对四自由度码垛机器人的结构设计及优化有一定的指导意义。A method for quantitative evaluation of working space rational degree of 4-DOF stacking ro- bot was presented. The smallest cuboid task space was transformed into meridian plane rectangular task space in the robot coordinate system established by D-H method. A method to evaluate the work- ing space of the robot using the working space utilization rate and the absolute value of left profile slope was proposed through the comparison of the deviation between the actual working space of the robot and the rectangular task space. The effectiveness of the evaluation method was verified through examples. The proposed method is helpful for the structure design and optimization of 4-DOF stacking robot.

关 键 词：码垛机器人 工作空间 任务空间 空间利用率 量化评价 

分 类 号：TH122[机械工程—机械设计及理论] TH242.2