一种装箱作业并联机器人机构的运动性能

发布时间：2018-03-09 22:03

本文选题：并联机构　切入点：雅可比矩阵　出处：《包装工程》2017年05期 　论文类型：期刊论文

【摘要】：目的针对目前食品、药品等装箱作业要求,将一种新型二自由度平面并联机器人用于装箱生产线的作业机构,并对其进行运动性能研究,确定其能否满足生产要求。方法对并联机构进行运动学分析,建立并联机器人的雅可比矩阵,利用几何法求解位置正、逆解;引入稳定性、运动分辨率和刚度性能指标,对机构进行运动性能分析,绘制稳定性和运动分辨率在工作空间内的性能分布图谱,研究机构在竖直方向上的刚度性能。结果该并联机构在实际装箱作业中的运动性能较为稳定,抓取或者放置物体阶段具有较高精度,且竖直方向的刚度较高。结论该新型二自由度平面并联机器人能够满足产品的装箱作业,在实际装箱作业中取得了广泛应用。
[Abstract]:Objective to study the kinematic performance of a new type of planar parallel robot with two degrees of freedom used in packing production line according to the requirements of food and drug packing operation at present. Methods the kinematics analysis of the parallel mechanism is carried out, the Jacobian matrix of the parallel robot is established, the forward and inverse position solutions are solved by geometric method, the stability, kinematic resolution and stiffness performance index are introduced. The kinematic performance of the mechanism is analyzed, and the performance distribution of the stability and resolution in the workspace is plotted. The stiffness performance of the mechanism in vertical direction is studied. Results the kinematic performance of the parallel mechanism is relatively stable in the actual packing operation, and the phase of grabbing or placing objects has a high accuracy. Conclusion the new planar parallel robot with two degrees of freedom can satisfy the packing operation of the product and has been widely used in the actual packing operation.
【作者单位】：河北工程大学;三门峡黄河明珠(集团)有限公司;
【基金】：河北省自然科学基金(E2015402130)
【分类号】：TP242

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