TCM包装机器人建模及其运动学仿真与优化

2016 2nd IEEE International Conference on Computer and Communications (ICCC) Pub Date : 2016-10-01 DOI:10.1109/COMPCOMM.2016.7924835

Yong Tao, Youdong Chen, Hui Liu, Jinpeng Gao, Hegen Xiong, Guang Xie

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引用次数: 0

摘要

并联包装机器人具有刚性高、承载能力强、精度高等优点，Delta机器人就是并联机器人的一种。基于Delta结构设计了中药包装机器人系统，可用于蛋白粉等中药产品的包装。根据包装产品进行经典的“门”形轨迹规划，建立产品的三维模型，并进行运动学仿真分析。通过在ADAMS中进行运动学仿真，得到了其运动轨迹，所得结果与理论计算结果一致。

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Modeling of TCM packing robot and its kinematics simulation and optimization

The parallel packing robot has the advantages of high rigidity, strong carrying capacity and high precision, and Delta robot is a type of parallel robot. The TCM (traditional Chinese medicine) packing robot system is designed based on the Delta structure, which can be used in the packing of TCM products such as protein powder. The classic “door” shape trajectory planning is conducted in accordance with the packing product, a 3D model is built for the product, and related kinematics simulation and analysis is also conducted. Through kinematics simulation in ADAMS, we obtain its movement trajectory, and the obtained result is consistent with that of theoretical calculation.

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2016 2nd IEEE International Conference on Computer and Communications (ICCC)

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