可控机构式码垛机器人的运动学误差分析  

Kinematic Error Analysis of Controllable Palletizing Robot

作　　者：晏紫琦 YAN Zi-qi(College of Mechanical Engineering,Guangxi University,Nanning 530004,China)

机构地区：[1]广西大学机械工程学院,广西南宁530004

出　　处：《装备制造技术》2020年第3期89-93,共5页Equipment Manufacturing Technology

摘　　要：本文根据可控式机构的理念设计了一款新型可控式码垛机器人,基于D-H法对于该码垛机器人进行运动学建模,并计算其位姿正解。考虑到码垛机器人对机构精度要求较高,因此对该机器人进行误差分析,分别讨论杆长误差和角度误差对末端位姿误差的影响。A new controllable palletizing is designed based on the concept of the controllable mechanism. According to the DH method,the kinematics modeling of the palletizing robot was carried out,the forward kinematics of the model was calculated and the accuracy of error analysis was verified. Considering that the palletizing robot has high requirements on the precision of the mechanism,the error analysis of the robot is carried out and the influence of the rod length error and the angle error on the end pose error is discussed by MATLAB simulation.

关 键 词：可控式机构 码垛机器人 运动学正解 误差分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]