上下料机器人关节速度规划  

Joint Velocity Planning of Loading and Unloading Robot

作　　者：李金良[1] 张斌 舒翰儒 杨学顺 刘阿健 LI Jin-liang;ZHANG Bin;SHU Han-ru;YANG Xue-shun;LIU A-jian(College of Mechanical and Electronic Engineering, The Key Laboratory of Transportation and Promotion, Shandong University of Science and Technology, Qingdao 266590, China)

机构地区：[1]山东科技大学机械电子工程学院运输与提升重点实验室,青岛266590

出　　处：《科学技术与工程》2021年第14期5784-5788,共5页Science Technology and Engineering

基　　金：国家重点研发计划(2018YFC0604702);山东省中青年科学家科研奖励基金(ZR2018BEE014)。

摘　　要：新兴的高新技术产业和智能化产业推动了上下料机器人的快速发展,但是其运动的平稳性限制着进一步的推广与应用。设计了一种4R上下料机器人。首先建立梯形、7段S曲线加减速控制算法,通过分析这两种算法对机器人运动平稳性的影响,提出了一种新型的S形加减速控制算法。利用ADAMS对三种算法进行仿真分析,结果表明新型的S形加减速控制算法在提高4R上下料机器人的运动平稳性方面更具优势并为4R上下料机器人后续的运动控制分析和优化奠定了基础。Emerging high-tech industries and intelligent industries have promoted the rapid development of loading and unloading robots,but the smoothness of their movements restricts further promotion and application.A 4R loading and unloading robot was designed.Firstly,a trapezoidal and 7-segment S-curve acceleration and deceleration control algorithm was established.By analyzing the influence of these two algorithms on the stability of robot motion,a new S-shaped acceleration and deceleration control algorithm was proposed,and the three acceleration and deceleration control algorithms were controlled by ADAMS.Simulation analysis was carried out.The simulation results show that the new S-shaped acceleration and deceleration control algorithm has more advantages in improving the motion stability of the 4R loading and unloading robot,which lays the foundation for the subsequent motion control analysis and optimization of the 4R loading and unloading robot.

关 键 词：4R上下料机器人 S形加减速控制算法 ADAMS 运动平稳性 

分 类 号：TH113[机械工程—机械设计及理论] TP273[自动化与计算机技术—检测技术与自动化装置]