Delta分拣机器人工作空间及灵巧度分析  

Workspace and Dexterity Analysis of Delta Sorting Robot

作　　者：李亮 李思凡 王海芳 张荣闯 Li Liang;Li Sifan;Wang Haifang;Zhang Rongchuang(College of Control Engineering,Northeastern University at Qinhuangdao,Qinhuangdao 066000,China)

机构地区：[1]东北大学秦皇岛分校控制工程学院,河北秦皇岛066000

出　　处：《包装与食品机械》2020年第2期32-37,共6页Packaging and Food Machinery

基　　金：河北省自然科学基金资助项目(E2012407010)。

摘　　要：针对三自由度的Delta分拣机器人通过简化其机构采用矢量法建立了单支链运动约束方程,进而推导出正向运动学和逆向运动学的数学模型。结合具体算例基于运动学正向模型给出了其可达工作空间的工作范围。采用微分法构建了关节速度和操作速度间的雅克比矩阵,基于该矩阵的代数特征确定了以条件数为灵巧度性能指标。通过选取工作空间内的设计工作区域,采用MATLAB软件求解,给出了机器人位于设计工作区域上、中、下三个截面内的条件数分布情况。结果表明算例机器人在指定设计工作区域内无奇异位形出现且具有优良的运动学性能,为现场应用中合理地确定设计工作区域提供了理论参考。Based on vector method,the motion constraint equation of single branch chain was established for three degrees of freedom Delta sorting robot by simplifying its mechanism,and the mathematical models of forward kinematics and inverse kinematics were deduced.In combination with a specific example,the working range of the reachable workspace was given based on the forward kinematics model.The Jacobian matrix of joint speed and operating speed was constructed by differential method,and the condition number was used as the dexterity index based on the algebraic characteristics of the matrix.By selecting the design work area in the workspace and using MATLAB software to solve the problem,the condition number distributions of the robot in the upper,middle and lower sections of the design work area were given.The results show that the robot has no singular configuration in the designated design work area and has excellent kinematic performance,which provides a theoretical reference for the reasonable determination of the working area in the practical application.

关 键 词：Delta机器人 工作空间 灵巧度 矩阵实验室 

分 类 号：TH112[机械工程—机械设计及理论]