堆垛机器人运动学分析与仿真

2010 International Conference on Challenges in Environmental Science and Computer Engineering Pub Date : 2010-03-06 DOI:10.1109/CESCE.2010.217

Rui Zhi-yuan, Liu Tao

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引用次数: 3

摘要

高速重载堆垛机器人技术是有色冶金领域常见的关键技术。本文设计了铝锭连铸生产线专用四自由度叠层机器人。采用D-H法建立了运动学模型，并对其进行了详细的研究。采用变换矩阵法求解机器人的运动学方程。得到了各关节变量与机器人执行机构之间的相互运动关系。通过adams软件对机器人进行运动学仿真。仿真结果验证了理论分析的正确性，为后续机器人的静态和动态特性分析奠定了基础。

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The Kinematics Analysis and Simulation of Stacking Robot

High-speed and heavy-load stacking robot technology is a common key technique in nonferrous metallurgy areas. Specific layer stacking robot of aluminum ingot continuous casting production line, which has four-DOF, is designed in this paper. The kinematics model is built and studied in detail by D-H method. The transformation matrix method is utilized to solve the kinematics equation of robot. Mutual motion relations between each joint variables and the executive device of robot is got. The kinematics simulation of the robot is carried out via the ADAMS-software. The results of simulation verify the theoretical analysis and lay the foundation for following static and dynamic characteristics analysis of the robot.

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来源期刊

2010 International Conference on Challenges in Environmental Science and Computer Engineering

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