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针对曲房架子制曲工艺人工翻曲劳动强度大的问题,研发轨道移动码垛机器人,代替人工进行曲块自动搬运与多点多工位码放。运用Solid Works建立轨道移动机器人的三维结构模型,以D-H法建立其空间关节坐标系并确定杆件参数,建立机器人的正逆运动学模型并推导正逆运动学方程;通过MATLAB Robotics Toolbox对机器人作运动学分析和仿真,验证了连杆参数设计的合理性和运动算法的正确性,为机器人动力学、控制和轨迹规划的研究提供了必要的基础数据,为实际物理样机的研制提供技术依据。
Aiming at the problem of labor intensity of manual turning of koji koji process in Ququ shelf, the robot of orbital movement palletizing is researched and developed instead of manual automatic movement of koji block and multi-station multi-station coding. Using Solid Works to establish the three-dimensional structure model of orbital mobile robot, establishing its spatial joint coordinate system with DH method and determining the parameters of the rod, establishing the positive and negative kinematics model of the robot and deriving the positive and negative kinematics equations; using MATLAB Robotics Toolbox to manipulate the robot The kinematical analysis and simulation verify the rationality of link parameter design and the correctness of the motion algorithm, provide necessary basic data for the research of robot dynamics, control and trajectory planning, and provide technical basis for the development of actual physical prototype.