关节型码垛机械手运动学分析及仿真.pdfVIP

# # : 1001- 2265( 2010) 08- 0044- 04 关节型码垛机械手运动学分析及仿真 毛立民, 邹剑 (东华大学 纺织装备教育部工程研究中心, 上海 201620) : 根据关节型码垛机械手的结构特点, 运用 D - H 方法建立机械手的运动学模型, 并对其 行位 姿速度正反问题的分析和求解, 得到关节型码垛机械手的雅可比矩阵和逆雅可比矩阵, 在此基础上 运用 ADAM 软件对机械手码垛过程 行仿真, 得到关节扭矩关节角速度曲线, 并利用仿真结果完 成伺服电机的选型, 为控制系统研制提供依据 : 关节型码垛机械手; 运动学; 雅可比; ADAM 仿真 : TP242. 2 : A K inematics Analysis and Simulation for Articulated Palletizing Robot MAO Li-m in, ZOU Jian ( DonghuaUn iversity, EngineeringResearch Center ofAdvancedTextileM ach inery, M in istry of Education, hanghai 201620, Ch ina) Abstract: Based on the mechanical structure of the articu lated palletizing robot, the robot. s kinematic model is established w ith D-H methods, including research ing positivenegative pose and velocity problem, so as to get the palletizing robot. s Jacob ian and inverse Jacob ian, then based on above, robotic palletizing operation is smi ulatedw ith ADAM , accordingly get joint torque, angular velocity curve, and the servo mo- tor. s selection is completedw ith smi ulation resu lts, wh ich gets ready for researching the control system. K ey words: articulated palletizing robot; K inematics; Jacobian; ADAM smi ulation () , , 0 , ; , 4 , , 23: , # # # H + H + H = 0, H + H + H = 0 ( 1) 2 3 4 2 3 4 , 1 , D-H [ 1] 1, 1234, 5 6 H 1 HHHH,