上下料工业机器人结构设计及仿真研究

摘要

Part of job done by low price, simple structure industrial robot has become a usual upgrading method to some small or medium-size enterprises, and it is useful in the practice to design a suitable robot according to work requirements. The method of designing loading and unloading robot wrist type and joint configuration were studied deeply, and based on the work area of the robot, the structure and DH parameters and the joint angles ranges of the robot were determined The structure of the robot, and the feasibility of joint trajectory planning, and the possibility to meet the job requirements were simulated with robot simulation toolbox, and it proved that the design was effective.%用价格较低、结构简单的工业机器人代替人的部分工作,成为中小企业产业升级换代的常用方式,根据工作要求,设计合适的机器人在实际中具有较大的实用价值.为了设计合适的机器人,深入研究了上下料工业机器人的手腕型式和关节配置的设计方法,并依据机器人的工作区域,确定了机器人的结构,给出了机器人的DH参数及各关节的转角范围.最后用机器人仿真工具箱对机器人的结构、轨迹规划的可行性及满足工作要求的可能性进行了仿真,证明了机器人结构设计的正确.