自行走式缠绕包装机器人运动学建模与仿真  

Kinematics Modeling and Simulation of a Self-propelled Wrapping Packaging Robot

作　　者：陈雨 石亚磊 胡亚凯 王良文 刘旭玲 井笑地 Chen Yu;Shi Yalei;Hu Yakai;Wang Liangwen;Liu Xuling;Jing Xiaodi(College of Innovation and Entrepreneurship,Henan Open University,Zhengzhou 450046,China;Mechanical and Electrical Engineering Institute,Zhengzhou University of Light Industry,Zhengzhou 450002,China;Zhengzhou Key Laboratory of Intelligent Assembly Manufacturing and Logistics Optimization,Zhengzhou College of Finance and Economics,Zhengzhou 450049,China)

机构地区：[1]河南开放大学创新创业学院,河南郑州450046 [2]郑州轻工业大学机电工程学院,河南郑州450002 [3]河南中烟工业有限责任公司安阳卷烟厂,河南安阳455000

出　　处：《机械传动》2023年第7期149-155,共7页Journal of Mechanical Transmission

基　　金：国家自然科学基金项目(52075500,52005453);河南省科技攻关重点项目(232102220075,232102221033);郑州财经学院自然科学重点项目(ZCKY2022ZD-0101)。

摘　　要：开发自行走式缠绕包装机器人可以显著推升行业的技术进步。介绍了一种全新工作模式的自行走式缠绕包装机器人:以自动导向车(Automated Guided Vehicle,AGV)安装6自由度机械臂构建移动机械臂为主体,装载包装膜固定装置、拉膜架等,实现完全的自主化缠绕包装工作。在介绍缠绕包装机器人整体结构的基础上,对移动机械臂缠绕包装典型物件的工作过程进行了分析与运动学建模;根据移动机械臂的数学模型和缠绕典型物件作业模型开发了仿真分析系统。实例计算与仿真结果表明,提出的缠绕包装机器人能够完成包装膜的缠绕包装工作,达到了设计要求。相关工作为自行走式缠绕包装机器人的实用化提供了依据。The development of the self-propelled wrap-around packaging robot can significantly boost the technological progress of the industry.This research introduces a self-propelled wrap-around packaging robot with a new working mode.For this packaging robot,the AGV equipped with a 6-DOFs robot arm to construct a mobile robot arm is used as the main body.The packaging film fixing device and the film drawing frame are load⁃ed on the AGV,to realize the complete autonomous wrapping work.On the basis of introducing the overall struc⁃ture of winding packaging robot,the working process of typical objects winding packaging with a mobile manipu⁃lator is analyzed and kinematics modeling is conducted.A simulation analysis system is developed based on the mathematical model of the mobile robot arm and the model of winding typical objects.The calculation and simu⁃lation results show that the wrap-around packaging robot can complete the wrapping work of packaging film and meet the design requirements.The related work provides a basis for the practical application of the self-pro⁃pelled wrap-around packaging robot.

关 键 词：包装机器人 缠绕包装 移动机械臂 运动学建模 仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TB486[自动化与计算机技术—控制科学与工程]