卸砖码垛重载机器人的机构设计和运动学分析

摘要

In order to solve the mechanization problem in the link of unloading bricks and stacking for brick industry,a kind of four-DOF unloading bricks palletizing heavy-duty robot was designed. The kinematics model of the robot was established by using the D-H method. The robots direct kinematics and inverse kinematics solutions were solved by using a simplified algorithm. Using the al-gorithm,a lot of multiplications and inversions of matrices were avoided,and the solving process was simplified. So the results can be obtained quickly. Meanwhile the direct kinematics and inverse kinematics solutions were simulated. The correctness of this conclusion was verified by the simulation results. The tests on the robot sample show the mechanism is reasonable and it meets the needs of unloa-ding bricks and palletizing.%　　为解决国内制砖行业卸砖码垛环节的机械化问题，设计了卸砖码垛重载机器人的实验样机。利用D-H方法建立了该机器人的运动学模型，求出了运动学正逆解。在求逆解过程中，提出一种新的简便算法，避免了大量的矩阵求逆和相乘，简化了计算过程，快捷地计算出相应结果。同时对正逆解进行了数值仿真，验证了其正确性。