高速重载堆垛机器人结构设计及性能分析  

Structure Design and Performance Analysis of High Speed and Heavy Load Palletizing Robot

作　　者：许亚东 顾聪聪 尹守乾 Xu Yadong;Gu Congcong;Yin Shouqian(Nantong Yuetong CNC Equipment Co.,Ltd.,Nantong,Jiangsu 226000,China;School of Mechatronic Engineering,China University of Mining and Technology,Xuzhou,Jiangsu 221116,China)

机构地区：[1]南通跃通数控设备股份有限公司,江苏南通2260001 [2]中国矿业大学机电工程学院,江苏徐州221116

出　　处：《中国人造板》2021年第9期13-17,共5页China Wood-Based Panels

基　　金：国家重点研发计划(2018YFB1308303)。

摘　　要：为了实现大重量、大体积、多规格木门等快速搬运与平稳堆垛作业,设计了一种高速重载六自由度堆垛机器人。针对木门生产线工艺特点及堆垛要求,确定堆垛机器人的基本构型;分析得到机器人关键部件尺寸并进行选型;通过D-H参数法建立机器人的运动学模型,得到机器人的极限位置空间;运用ADAMS软件建立堆垛机器人动力学模型,探究其在高速重载条件下各构件的受力变化;以动力学分析结果为依据,对各个关键部件进行有限元分析。结果表明,设计的高速重载堆垛器人各部件强度均满足要求,工作空间过渡圆滑,无间断点出现,满足设计要求。In order to realize the fast handling and stable stacking of customized woodworking furniture such as large weight,large volume,and multi-specification wooden door,a high-speed and heavy-duty six degree of freedom stacking robot was designed.According to the characteristics of the custom-made woodworking furniture production line and the stacking requirements,the basic configuration of the stacking robot was determined.The key parts of robot were analyzed and selected.The kinematics model of robot was established by D-H parameter method,and the limit position space of robot was obtained.The dynamic model of the stacking robot was established by ADAMS software,and the stress changes of the components under the high speed and heavy load conditions were studied.Based on the results of dynamic analysis,the finite element analysis of each key component was carried out.The results showed that the strength of the designed high-speed and heavy-duty stacker met the requirements of all parts,the transition of the working space was smooth,and no breakpoints appeared,which met the design requirements.

关 键 词：高速重载堆垛机器人 D-H参数法 正逆运动学 动力学仿真 

分 类 号：TS64[轻工技术与工程]