码垛机器人运动学分析与仿真
熊艳梅，杨延栋
（西南交通大学 机械工程学院，四川 成都 610031）
摘要：为了评价码垛机器人的工作能力和实现作业的精确控制，需对码垛机器人进行工作空间计算和轨迹规划。以ABB IRB660码垛机器人为例，建立D-H矩阵并对其工作空间进行仿真；然后对码垛机器人完成特定码垛任务进行轨迹规划。工作空间仿真结果表明，码垛机器人杆件参数和关节参数设计满足工作要求；对拟定的码垛任务轨迹规划结果表明，此轨迹规划达到了考虑速度、加速度等边界条件的前提下运动时间最优的目的，验证了机构设计的合理性。本研究有利于码垛机器人的结构设计和动作控制，并为码垛机器人的精确控制和动力学研究奠定了基础。
关键词：码垛机器人；工作空间；轨迹规划；运动仿真
中图分类号：TP242 文献标志码：A doi：10.3969/j.issn.1006-0316.2015.01.016
文章编号：1006－0316 (2015) 01－0062－05
Kinematics simulation of palletizing robot
XIONG Yan-mei，YANG Yan-dong
( College of Mechanical Engineering, Southwest Jiaotong University, Chengdu 610031, China )
Abstract：In order to evaluate the work ability of palletizing robot and realize the accurate control of operation, the workspace need to be calculated and trajectory must to be planned. With the ABB IRB660 palletizing robot as example, the workspace is simulated on the base of D-H matrix, then, the trajectory planning of specific task is finished. The workspace simulation results showed that palletizing robot rod parameters and joint parameters are designed to meet the work requirements; palletizing tasks of the proposed trajectory planning results showed that this trajectory planning reached the purpose of optimal exercise time, which considering the boundary conditions of velocity and acceleration, etc. Verified the mechanism design is reasonable. This research is helpful for the structure design and motion control of palletizing robot, and laid the foundation for precise control and dynamics of palletizing robots.
Key words：palletizing robot；workspace；trajectory planning；kinematics simulation
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收稿日期：2014－09－04
作者简介：熊艳梅（1990－），女，四川乐山人，硕士研究生，主要研究方向为机械设计及理论。
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