{"title":"一种新型码垛机器人结构参数对工作空间的影响分析","authors":"Binglei Duan, Liangping Shi, Jinquan Li","doi":"10.1109/ICDMA.2011.56","DOIUrl":null,"url":null,"abstract":"Based on a novel palletizing robot, its kinematic equations were estabLished by using D-H method. When considering some constraint conditions such as the translation and rotation Limitations of driving parts and joints and the interferences between Links, its kinematics equations were solved and its three-dimensional workspace maps and coordinate plane projection maps were derived by using Matlab software. Finally, the influence coefficients of the length and rotation angle of Links on workspace were presented and curves of influence coefficients of some parameters were obtained, on the basis of which, quantitative influence on workspace of structure parameters was analyzed. This method provided a basis for its structural optimization from kinematic view.","PeriodicalId":393655,"journal":{"name":"International Conference on Digital Manufacturing and Automation","volume":"303 2 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Analysis on the Influence of Structure Parameters on Workspace of a Novel Palletizing Robot\",\"authors\":\"Binglei Duan, Liangping Shi, Jinquan Li\",\"doi\":\"10.1109/ICDMA.2011.56\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Based on a novel palletizing robot, its kinematic equations were estabLished by using D-H method. When considering some constraint conditions such as the translation and rotation Limitations of driving parts and joints and the interferences between Links, its kinematics equations were solved and its three-dimensional workspace maps and coordinate plane projection maps were derived by using Matlab software. Finally, the influence coefficients of the length and rotation angle of Links on workspace were presented and curves of influence coefficients of some parameters were obtained, on the basis of which, quantitative influence on workspace of structure parameters was analyzed. This method provided a basis for its structural optimization from kinematic view.\",\"PeriodicalId\":393655,\"journal\":{\"name\":\"International Conference on Digital Manufacturing and Automation\",\"volume\":\"303 2 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1900-01-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"International Conference on Digital Manufacturing and Automation\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICDMA.2011.56\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Conference on Digital Manufacturing and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICDMA.2011.56","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Analysis on the Influence of Structure Parameters on Workspace of a Novel Palletizing Robot
Based on a novel palletizing robot, its kinematic equations were estabLished by using D-H method. When considering some constraint conditions such as the translation and rotation Limitations of driving parts and joints and the interferences between Links, its kinematics equations were solved and its three-dimensional workspace maps and coordinate plane projection maps were derived by using Matlab software. Finally, the influence coefficients of the length and rotation angle of Links on workspace were presented and curves of influence coefficients of some parameters were obtained, on the basis of which, quantitative influence on workspace of structure parameters was analyzed. This method provided a basis for its structural optimization from kinematic view.
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