铝锭伺服堆垛机z轴速度分析及仿真

摘要

为了解决生产过程中堆垛机器人发生损伤、断臂的问题,对堆垛机运行时的速度曲线进行规划.试用梯形调速曲线,S型调速曲线分析并求解,利用Matlab/Simulink建立数学模型进行仿真,对比两种曲线的响应性,并用图形化的方法标示分析结果;仿真结果可为伺服堆垛机的作业路径和调速操作提供参考.%To solve the problems of stacking robot damage and arm injury in the production process,this paper makes a plan for the speed curve of stacker operation.It chooses the trapezoidal velocity curve to solve the speed curve,uses Matlab/Simulink to establish the mathematical model of the servo motor and simulates the speed curve and compares the responsiveness.The analytic result is expressed in graphical methods.It gives a reference to tasking route and speed regulation.