一种大型高空板材安装机器人分析与研究  

Analysis and Research for a Large Type High Altitude of Upper Plate Installed Robot

作　　者：李贺立 杨冬[1] 张改萍[1] 曹伟涛[1] 李铁军[1] H Hell YANG Dong ZHANG Gaiping CAO Weitao H Tiejun(School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, China)

机构地区：[1]河北工业大学机械工程学院,天津300130

出　　处：《机床与液压》2017年第15期23-27,96,共6页Machine Tool & Hydraulics

基　　金：国家"十二五"科技支撑计划资助项目(2013BAF07B08)

摘　　要：针对目前高空狭小工作空间、大型重板材安装实际环境的需要,尤其是板材安装仍依赖人工的问题进行了高空板材安装智能化的相关技术研究。对该高空板材安装机器人进行了运动学分析,求出了其运动学正解和逆解。并对其中关键机构四连杆通过建立普通数学模型和模糊数学模型进行了优化,得到机构的最优解,为该机器人的轨迹规划提供了依据。Aiming at the need of the actual environment for high altitude with narrow working space, large heavy plate installed, especially the question of artificial plate installation still relyed on, the upper plate installation intelligent equipment related technical research is carded out. On the upper plate installed robot kinematics analysis, the kinematic positive and inverse solutions were found out. Key institutions and the four connecting rod among it were optimized through the establishment of the general mathematical model and fuzzy mathematical model. The optimum solution of the mechanism is gotten, which has laid a foundation for the trajectory planning of robot.

关 键 词：高空板材安装机器人 运动学分析 四连杆机构 模糊优化 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]