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提出了一种能实现手部空间三维移动及一维转动的混联码垛机器人机构——4自由度码垛机器人机构。分析了该机器人运动学特性,通过参考坐标系单独求解和齐次变换法求解相结合的方式,获得了末端操作器的位置、速度、加速度正反解。并提出了结构尺寸优化方法,使该机构位置正解得到简化,运动学解耦,计算量小,便于该机器人运动控制设计、运动轨迹规划和驱动力实时控制。给出了该机构一般输入时机械手的位置、速度、加速度仿真曲线,描述了该机器人机构的运动学特性。
A hybrid palletizing robotic mechanism that can realize three-dimensional movement and one-dimensional rotation of hand space is proposed, which is a 4 DOF palletizing robot mechanism. The kinematic characteristics of the robot are analyzed. By combining the solver of the reference coordinate system and the homogeneous transformation method, the position, velocity and acceleration of the end effector are obtained. The method of structure size optimization is proposed to simplify the position of the mechanism and solve the problem of kinematical decoupling and small amount of calculation, which is convenient for the robot motion control design, trajectory planning and driving force real-time control. The simulation curves of the position, velocity and acceleration of the manipulator at the general input are given, and the kinematics of the robot mechanism is described.