一种新型流水线搬运机械手设计与分析

摘要

针对流水线搬运工艺的特点，提出一种新的机器人结构，建立D-H法的杆件坐标系，对该机器人进行运动学分析，得出驱动关节和末端执行器的映射关系。结合CAD与MATLAB建立了该机器人的参数化虚拟模型，计算机器人的工作空间，进行轨迹仿真优化。使用嵌入式运动控制器搭建控制系统，对样机进行验证。实验证明，提出的新型机器人具有良好的运动学特性，能高效满足流水线搬运自动化的需求。%According to the characteristics of line packaging process,this paper proposes a new robot structure,establishs bars coor-dinate based on D-H method to analyse robot kinematics,and obtains the mappings of joint and end effector drive. Combining CAD and MATLAB establish parametric virtual model of the robot, the robotˊs workspace is calculated, and the trajectory simulated and optimized. Transformation of the robot gripper can achieve different functions, providing information and reference for pipeline auto-mation robots. Using the embedded motion control er built control systems to verify the prototype . Experimental results show that the new robot kinematics with good characteristics, can efficiently meet the needs of automated packaging lines.