姚松亮,李锻能,周新云,郑秀宏.斜导面直线驱动关节机器人工作空间仿真及优化[J].包装工程,2014,35(1):13-17.
YAO Song-liang,LI Duan-neng,ZHOU Xin-yun,ZHENG Xiu-hong.The Simulation and Optimization of Workspace of Inclined Guide Surface-Articulated Robot Utilizes Linear Drives[J].Packaging Engineering,2014,35(1):13-17. |
| 斜导面直线驱动关节机器人工作空间仿真及优化 |
| The Simulation and Optimization of Workspace of Inclined Guide Surface-Articulated Robot Utilizes Linear Drives |
| 投稿时间：2014-04-26 修订日期：2013-12-01 |
| DOI： |
| 中文关键词: 斜导面 机器人 直线驱动 工作空间 仿真优化 |
| 英文关键词: inclined guide surface robot linear drives workspace simulation and optimization |
| 基金项目:浙江省科技计划项目公益技术研究社会发展项目(2013C33036) ;浙江省质量技术监督系统科研计划项目(20120208) |
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| 中文摘要: |
| 目的 针对一种新型并联式机构码垛机器人的工作空间进行仿真优化，并阐述其结构特征。方法 利用数值方法通过Matlab软件编程求解运动学方程，得到工作空间三维图和二维截面图，在此基础上，进一步利用采样法对工作空间进行仿真计算，研究斜导面丝杠行程x、驱动臂丝杠行程y和结构参数c，h对工作空间的影响。结果 增大丝杠行程x、y，斜导面机器人执行码垛动作有效工作空间高度增加，范围变大；增加结构参数c尺寸，工作空间横向（宽度）范围变宽；增加结构参数h尺寸，工作空间纵向（高度）范围升高。结论 斜导面机器人并联结构存在非线性问题，即不能直接通过运动学方程研究结构参数对工作空间的影响。通过上述方法仿真得到丝杠行程x为50~320 mm、丝杠行程y为80~330 mm、结构参数c为200 mm、h为180 mm时，工作空间有效二维截面为一个450×700的矩形区域，且具有较好的工作空间位置分布，满足作业要求。 |
| 英文摘要: |
| Objective Simulate and optimize workspace for a new parallel palletizing robot, and expound its structural characteristics. Methods Use numerical method to get 3D and 2D figures of workspace by Matlab software, On this basis, use sampling method to simulate the workspace, and study the trend affecting of the workspace on screw stroke x, y and the structural parameters c and h. Results Increase the screw stroke x, y, the inclined guide surface robot has a higher and larger effective working space; increase the size of structural parameters c, the transverse(width) of workspace becomes wider; increase the size of structural parameters h, the longitudinal(height) of workspace becomes higher. Conclusion On account of the nonlinear characteristics of the parallel structure, it cannot to study effect of structural parameters on the workspace through the kinematic equations directly. Obtain a rectangular area 450×700 of the effective working space through above methods, under the screw stroke x=50~320 mm、y=80~330 mm,structural parameters c=200 mm、h=180 mm, and it has a good distribution workspace location to meet operational requirements. |
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