错架图书识拣机器人结构设计及运动学分析  

Structural Design and Kinematic Analysis of Wrong Book Sorting Robot

作　　者：朱瑛 马慧婷 谢睿 ZHU Ying;MA Huiting;XIE Rui(School of Mechanic Engineering,Shenyang Aerospace University,Shenyang Liaoning 110136,China)

机构地区：[1]沈阳航空航天大学机电工程学院,辽宁沈阳100136

出　　处：《机床与液压》2020年第5期34-38,共5页Machine Tool & Hydraulics

基　　金：国家重点实验室项目(SKLRS-2013-MS-04)。

摘　　要：设计了一个四自由度直角坐标错架图书分拣机器人,传动机构由一个R方向的转动机构和X、Y、Z 3个方向上的滑动机构组成,通过各个传动机构的运动实现末端执行器所要到达的位置。利用D-H参数法建立机器人的运动学方程,对机器人末端执行机构的运动进行理论推导,利用SolidWorks进行建模,将模型导入到ADAMS软件中进行运动学仿真。结果表明:机器人末端位移、速度曲线变化平稳,能到达空间中的指定位置,验证了结构设计的合理性,从而为控制系统的设计提供了依据。A four-degree-of-freedom(4DOF)wrong frame book sorting robot with rectangular coordinates is designed.The driving mechanism was composed of a rotating mechanism in R direction and a sliding mechanism in three directions of X,Y and Z.The position to be reached by the end actuator was realized by the movement of each transmission mechanism.The kinematics equation of the robot was established by using D-H parameter method,and the kinematics of the robot terminal actuator was deduced theoretically.Then the model was modeled by SolidWorks,which was introduced into the ADAMS software for kinematics simulation.The results show that the displacement and velocity curves of the robot are stable and can reach the specified position in the space,which verifies the rationality of the structure design and provides the basis for the design of the control system.

关 键 词：结构设计 错架图书分拣 运动学仿真 D-H矩阵 ADAMS 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]