摘要
食品装箱工序工作简单,重复性高,用机器人代替人工是一个必然趋势。设计一台基于食品自动装箱的四自由度并联机器人,建立运动学模型,得到此并联机器人的雅克比矩阵,并运用ADAMS/view模块对设计的机器人进行运动学仿真分析,得到末端执行器的坐标曲线和速度与加速度的仿真曲线,曲线平滑,符合设计要求。证明机器人能够实现精确控制,验证运动学模型建立的正确性,也为机器人轨迹规划提供理论依据,为自动装箱并联机器人设计选型提供技术支持。
Food packing process is simple and repeatable,and it is an inevitable trend to replace manual labor with robot.A 4-dof parallel robot based on automatic food packing was designed.The kinematics model was established,the jacobian matrix of the parallel robot was obtained,and the ADAMS/view module was used for kinematics simulation analysis of the designed robot.The coordinate curve of the end-effector and the simulation curve of velocity and acceleration were obtained,and the curve was smooth,meeting the design requirements.It proved that the robot could realize precise control,to verify the correctness of the kinematics model,to provide the theoretical basis for the trajectory planning of the robot,and to provide good technical support for the design and selection of the automatic boxed parallel robot.
作者
吴萍
WU Ping(Changzhou Institute of Industry Technology,Changzhou 213164)
出处
《食品工业》
CAS
北大核心
2020年第4期198-201,共4页
The Food Industry
关键词
食品
自动装箱
并联机器人
仿真
food
automatic packing
parallel robots
simulation
