In order to realize low cost and multi-pose for a foreign fiber sorting robot, the robot structure and flexibility were analyzed. 5-DOF structure ( PRRRP) was chosen for the robot. This paper established the robot's D-H kinematics parameter table and inverse kinematics solution of the position vector corresponding to the joint variables was worked out. The boundary constraints of the joint variables were determined by graphic method. The concept of flexibility was defined. The evaluation function of flexible degree was established on the half-section of cotton pile. The joint variables parameters with most flexible points were obtained by optimization calculation using MatLab software. And finally, this paper pointed out that the less degree of freedom-robot designed based on the criterion of the flexibility achieves multi-pose movements, and the design method is characterized by low cost and easy to control.%为实现棉花分拣机器人的低成本、多姿态,进行了机器人结构与灵活度的分析.机器人选取PRRRP五自由度关节结构,建立了机器人的D-H运动学参数表,取出位置向量,求出位置向量对应的关节变量逆解,利用作图法确定关节变量的边界约束.定义了灵活度的概念,以棉堆半剖面作为目标空间,建立灵活度评价函数,运用MatLab软件优化得到灵活点数最多的关节变量参数.指出以灵活度为设计准则的少自由度机器人实现多姿态动作是一种低成本,易控制的设计方法.
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