码垛机器人的连杆参数优化  

Optimization of Linkage Parameters of Palletizing Robot

作　　者：袁成志 杨传民[2] 蔚俊 邢炯 龚国腾 YUAN Cheng-zhi;YANG Chuan-min;YU Jun;XING Jiong;GONG Guo-teng(Hebei University of Technology,Tianjin 300131,China;Tianjin University of Commerce,Tianjin 300134,China)

机构地区：[1]河北工业大学,天津300131 [2]天津商业大学,天津300134

出　　处：《包装工程》2021年第13期225-229,共5页Packaging Engineering

基　　金：“十二五”科技支撑计划(2011BAD24B01)。

摘　　要：目的对码垛机器人的连杆参数进行优化,以保证垛型完全位于码垛机器人工作空间内。方法通过改变连杆长度l_(2)、l_(3)、关节转角θ_(3)的值,根据运动学方程,利用Matlab编程计算得到码垛机器人工作空间的三维立体图以及xOz平面投影图,经过对比分析选取符合条件的连杆参数。结果θ_(3)的范围满足要求,无需优化。当l_(2)和l_(3)长度为2290 mm时,码垛机器人的最大工作空间包含任务工作空间。结论对连杆参数进行了优化设计,机器人的工作空间符合工作要求。This paper optimizes the linkage parameters of the palletizing robot to ensure that the stack is completely located in the working space of the robot.By changing the values of l_(2),l_(3) and joint angleθ_(3),the workspace measurements of xyz,xOz of the robot were calculated by Matlab programming according to the kinematics equation,and the linkage parameters that meet the conditions were selected through comparison and analysis.The results show that the range ofθ_(3) coincides the requirements,so it is no need to be optimized.And when the length of l_(2) and l_(3) is 2290 mm,the maximum workspace of palletizing robot contains the task workspace.After the optimized design of linkage parameters,the workspace of the robot can meet work requirements.

关 键 词：码垛机器人 工作空间 连杆参数 优化 

分 类 号：TB486[一般工业技术—包装工程] TP242[自动化与计算机技术—检测技术与自动化装置]