摘要
设计了一个四自由度直角坐标错架图书分拣机器人,传动机构由一个R方向的转动机构和X、Y、Z 3个方向上的滑动机构组成,通过各个传动机构的运动实现末端执行器所要到达的位置。利用D-H参数法建立机器人的运动学方程,对机器人末端执行机构的运动进行理论推导,利用SolidWorks进行建模,将模型导入到ADAMS软件中进行运动学仿真。结果表明:机器人末端位移、速度曲线变化平稳,能到达空间中的指定位置,验证了结构设计的合理性,从而为控制系统的设计提供了依据。
A four-degree-of-freedom(4DOF)wrong frame book sorting robot with rectangular coordinates is designed.The driving mechanism was composed of a rotating mechanism in R direction and a sliding mechanism in three directions of X,Y and Z.The position to be reached by the end actuator was realized by the movement of each transmission mechanism.The kinematics equation of the robot was established by using D-H parameter method,and the kinematics of the robot terminal actuator was deduced theoretically.Then the model was modeled by SolidWorks,which was introduced into the ADAMS software for kinematics simulation.The results show that the displacement and velocity curves of the robot are stable and can reach the specified position in the space,which verifies the rationality of the structure design and provides the basis for the design of the control system.
作者
朱瑛
马慧婷
谢睿
ZHU Ying;MA Huiting;XIE Rui(School of Mechanic Engineering,Shenyang Aerospace University,Shenyang Liaoning 110136,China)
出处
《机床与液压》
北大核心
2020年第5期34-38,共5页
Machine Tool & Hydraulics
基金
国家重点实验室项目(SKLRS-2013-MS-04)。
作者简介
朱瑛(1972-),男,博士,副教授,主要研究方向为机电系统智能控制、检测技术等。E-mail:zy_syiae@163.com。
