码垛机器人的研究与应用  

Research and Application of Palletizing Robot

作　　者：胡春生[1] 魏红星 闫小鹏 李国利 HU Chunsheng;WEI Hongxing;YAN Xiaopeng;LI Guoli(School of Mechanical Engineering,Ningxia University,Yinchuan 750021,China)

机构地区：[1]宁夏大学机械工程学院,银川750021

出　　处：《计算机工程与应用》2022年第2期57-77,共21页Computer Engineering and Applications

基　　金：宁夏大学研究生创新项目(GIP2021008)。

摘　　要：通过对码垛机器人相关文献进行归纳整理,从结构优化、末端执行机构、运动规划、运动控制、机器人编程、国内应用等六个方面对码垛机器人进行了概述,分别阐述了机器人本体结构优化、运动规划的常见方法、机器人编程的常用手段、机器人控制的常用方法、避障规划的难点、多机器人协同的特殊性、各类型末端执行机构的优缺点,随后针对我国的码垛机器人应用现状,提出了对应的解决措施,针对码垛机器人关键技术的研究,指出了未来的发展方向和研究重点,可为相关研究人员提供参考。This paper summarizes the palletizing robot from six aspects, including structure optimization, end actuator,motion planning, motion control, robot programming and domestic application, by summarizing the relevant literature of palletizing robot. It respectively expounds the robot body structure optimization, the common method of motion planning,the common use of the robot programming, robot control of commonly used methods, difficulties of the obstacle avoidance planning, the particularity of multi-robot coordination, the advantages and disadvantages of all kinds of terminal actuators, palletizing robot application status in China, then puts forward the corresponding solutions, the study of palletizing robot is the key technology. The future development direction and research focus are pointed out, which can provide reference for related researchers.

关 键 词：码垛机器人 研究现状 应用现状 存在问题 解决方法 发展方向 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]