基于运动链闭合法的可控码垛机器人的构型综合研究
|
摘要
基于运动链闭合法的理论,对码垛机器人的构型进行分析,首先确定能保证其正常工作的自由度数;再根据运动链组合,绘制运动链形式的拓扑图;进而提出优选方案,筛选出最优构型;最后根据码垛机器人的工作特点对构型进行改进,得到一种新型的可控码垛机器人。将电动推缸安装在机架上,能降低了转动惯量,有效地改善动态性能。
Based on the kinematic chain closure theory,the configuration synthesis of the traditional Palletizing robot is investigated,the degree of freedom is determined.Then adopt the method of open deputy closed type comprehensive,and the the optimum scheme is selected and optimized from these topologies. For the theory of controllable mechanism,the palletizing robot is constructed. Compared with the traditional robot,it has lower the Moment of Inertia and better dynamical characteristics.
Based on the kinematic chain closure theory,the configuration synthesis of the traditional Palletizing robot is investigated,the degree of freedom is determined.Then adopt the method of open deputy closed type comprehensive,and the the optimum scheme is selected and optimized from these topologies. For the theory of controllable mechanism,the palletizing robot is constructed. Compared with the traditional robot,it has lower the Moment of Inertia and better dynamical characteristics.
引文
[1]胡洪国,高建华,杨汝清.码垛技术综述[J].组合机床与自动化加工技术,2000(6):6-9.
[2]樊维发.根据链接开放副间的边数作为平面运动链的型综合[J].机械科学与技术,1994,13(3):11-18.
[3]曹惟庆.平面连杆机构分析与综合[M].北京:科学出版社,2002.
[4]蔡敢为,潘宇晨,王红州,等.基于功能分析的新型装载机构型综合研究[J].机械工程学报,2014,50(11):50-59.
[5]黄真,赵永生,赵铁石.高等空间机构学[M].北京:高等教育出版社,2007.
[2]樊维发.根据链接开放副间的边数作为平面运动链的型综合[J].机械科学与技术,1994,13(3):11-18.
[3]曹惟庆.平面连杆机构分析与综合[M].北京:科学出版社,2002.
[4]蔡敢为,潘宇晨,王红州,等.基于功能分析的新型装载机构型综合研究[J].机械工程学报,2014,50(11):50-59.
[5]黄真,赵永生,赵铁石.高等空间机构学[M].北京:高等教育出版社,2007.