码垛机器人运动学与动力学仿真

摘要

To evaluate the working ability of the palletizing robot and realize the accurate control to operation, it' s necessary to perform kinematics and dynamics simulations for the palletizing robot. With the ABB IRB660 palletizing robot as an example, the paper describes the kinematics simulation for palletizing robot using Matlab robot toolbox programming, and the kinematics and dynamics simulation are also performed by establishing virtual prototype with ADAMS. The research is beneficial to structural design and motion control of palletizing robots, verifying reasonability of structural design and correctness of simulation method through simulation, and providing basis for selection of motors of the palletizing robot.%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运动学和动力学仿真.本文以ABB IRB660码垛机器人为例,利用Matlab机器人工具箱编程,对码垛机器人进行运动学仿真,同时利用ADAMS建立虚拟样机,对码垛机器人进行运动学和动力学仿真.本研究有利于码垛机器人的结构设计和动作控制,通过仿真验证了机构设计的合理性和仿真方法的正确性,也为码垛机器人的电机选择提供了依据.