码垛机器人机构设计与控制系统研究

作者：李成伟1,朱秀丽1，O超2 日期：2008-12-26/span> 浏览：4073 查看PDF文档

码垛机器人机构设计与控制系统研究

李成伟1,朱秀丽1，O超2
(1.北京航空航天大学 机械人研究所，北京 100083；2.北京航空航天大学 理学院，北京 100083)

摘要：针对物流自动化行业中对箱包高速码垛的需求,并依据搬运机器人的性能要求，设计了一种四自由度的码垛机器人。重点分析了码垛机器人的运动学研究，推导了运动学正反解公式及最大工作空间的判断且规划了运动路径,进行了图形仿真，验证了运动轨迹的正确性,利用分布式二级控制结构实现系统的监控和作业管理，协调各关节的运动，准确地跟踪轨迹规划并自主开发码垛机器人控制软件。通过盒控制方式,实验结果表明，所设计的机器人已可满足在物流自动化的目标要求。
关键词：机器人机构；运动学分析;控制系y;图形仿真
中图分类号：TP24文献标识码：A文章编号：1001-4551(2008)12-0081-04

Design and research of stacking robot kinematics
LI Cheng-wei1, ZHU Xiu-li1, YUN Chao2
(1.Robotics Institute, Beihang University, Beijing 100083, China;
2.School of Science, Beihang University, Beijing 100083, China)
Abstract: In accordance with the requirement of robot palletizer in logistics automation technology, a universal robot palletizer was designed based on the functional requirement. The focus of the campaign path palletizing robots were studied. The pros and cons of the location work space, the largest judgment and the development of robot to stack the path planning were sought. And stacking space judgment, a final graphic simulation and verification of the correctness of the trajectory were done. The use of distributed control structure to achieve and the second system of monitoring and operations management, coordination of joint movement were done. The trajectory planning and independent development palletizing robot control software were tracked aceurately. By stacking the key parameters of the inputting and teaching-playback operations, the experimental results show that the robot meets the objectives of the logistics automation requirements.
Key words: robot institutions; kinematics analysis; control system; graphic simulation