纤维缠绕机芯模自动装卸机械臂轨迹仿真与分析  

Simulation and Analysis of Trajectory of Automatic Loading and Unloading Manipulator for Filament Winding Machine

作　　者：田会方[1] 潘宁静 TIAN Huifang;PAN Ningjing(School of Mechatronics Engineering,Wuhan University of Technology,Wuhan Hubei 430070,China)

机构地区：[1]武汉理工大学机电工程学院,湖北武汉430070

出　　处：《机床与液压》2020年第3期52-57,共6页Machine Tool & Hydraulics

摘　　要：目前国内纤维缠绕机芯模装卸多由人工完成,为提高生产效率,减轻工人劳动量,以水处理缠绕罐为例设计自动搬运装置,以实现芯模的自动装卸。确定了搬运过程中机械臂经过的目标点及其位姿,并根据D-H参数在MATLAB Robotics Toolbox工具箱创建了机械臂运动学模型;在不同的工作空间运用五次多项式插值对机械臂进行运动轨迹仿真,最终得到满足水处理罐搬运过程中无冲击、运行平稳要求的运动规律。At present,domestic filament winding movement mold of loading and unloading is mostly done manually. In order to improve production efficiency and to reduce labor load,an automatic handling device is designed by taking water treatment winding cans as an example to realize automatic loading and unloading of the core mold. Firstly,the target point and its pose passed by the robot arm during the transportation process were determined. The kinematics model of the manipulator was created in the MATLAB Robotics Toolbox according to the DH parameter,and the mechanical arm was moved by the fifth order polynomial interpolation in different workspaces. The trajectory simulation finally obtains the motion law that meets the requirements of no impact and stable operation during the handling of the water treatment tank.

关 键 词：六自由度机械手 轨迹规划 D-H参数 运动学 MATLAB 

分 类 号：TB559[理学—物理]