一种加料奶茶机器人的设计与运动学分析  

Design and Kinematic Analysis of a Refilling Milk Tea Robot

作　　者：李东阳 项辉宇[1] 冷崇杰[1] 张勇[2] LI Dongyang;XIANG Huiyu;LENG Chongjie;ZHANG Yong(School of Artificial Intelligence,Beijing Technology and Business University,Beijing 100048,China;China Special Equipment Inspection and Research Institute,Beijing 100029,China)

机构地区：[1]北京工商大学人工智能学院,北京100048 [2]中国特种设备检测研究院,北京100029

出　　处：《自动化应用》2023年第23期16-18,23,共4页Automation Application

摘　　要：为提高奶茶制作效率,节省人力,本文提出了一种新型六自由度加料奶茶机器人。首先,使用D-H参数法分析机器人的运动学特性,建立坐标系,并分别求解分析其正、逆运动学,根据末端执行器的始末位置计算机器人的轨迹规划;然后,使用MATLAB软件进行运动学仿真,获取机器人关节的角位移、角速度、角加速度曲线,并规划末端执行器的轨迹;最后,分析机器人的工作空间。结果证明,本文设计的奶茶机器人能满足实际工作需求。To improve the efficiency of milk tea production and save manpower,this paper proposes a new six degree of freedom feeding milk tea robot.Firstly,the D-H parameter method is used to analyze the kinematic characteristics of the robot,establish a coordinate system,and solve and analyze its forward and inverse kinematics separately.The trajectory planning of the robot is calculated based on the starting and ending positions of the end effector.Then,use MATLAB software for kinematic simulation to obtain the angular displacement,angular velocity,and angular acceleration curves of the robot joints,and plan the trajectory of the end effector.Finally,analyze the workspace of the robot.Results prove that the milk tea robot designed in this paper meets practical work requirements.

关 键 词：奶茶机器人 运动学分析 MATLAB仿真 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]