基于混联机构的新型物流分拣机器人机构研究

摘要

Due to great variety of goods, distribution and storage diversification and low efficiency in the process of the logistics in-dustry sorting goods,this paper researches on the new logistics sorting robot mechanism based on the combination mechanism.It u-ses the five degree of freedom hybrid mechanism and combines the mechanism advantages of parallel robot and series robot to do the kinematic analysis of this configuration, including constraint analysis and velocity analysis, thus obtaining the displacement, speed,acceleration and angular velocity curves of the mechanism motion to verify the output for three translations and two rotations.%针对物流行业分拣商品过程中商品种类繁多,配送和储藏多样化,工作效率低的现状,研究基于混联机构的新型物流分拣机器人机构.采用五自由度混联机构,综合并联机器人与串联机器人的机构优点,针对该构型进行运动学分析,包括约束分析和速度分析,得到机构运动的位移,速度,加速度与角速度曲线,验证了该机构输出为三移动两转动.