刘荣帅,李清,杜昱东,丰玉玺,张鹏,赵立婷.3-CUR并联分拣机器人的运动学分析与仿真[J].包装工程,2019,40(21):179-186.
LIU Rong-shuai,LI Qing,DU Yu-dong,FENG Yu-xi,ZHANG Peng,ZHAO Li-ting.Kinematics Analysis and Simulation of 3-CUR Parallel Sorting Robot[J].Packaging Engineering,2019,40(21):179-186. |
| 3-CUR并联分拣机器人的运动学分析与仿真 |
| Kinematics Analysis and Simulation of 3-CUR Parallel Sorting Robot |
| 投稿时间：2019-05-13 修订日期：2019-11-10 |
| DOI：10.19554/j.cnki.1001-3563.2019.21.026 |
| 中文关键词: 3-CUR 并联机构 螺旋理论：位置反解 工作空间 分拣机器人 |
| 英文关键词: 3-CUR parallel mechanism screw theory inverse kinematics workspace sorting robot |
| 基金项目:浙江省公益基金（2016C31130）；宁波自然科学基金（2015A610143） |
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| 中文摘要: |
| 目的 我国传统的食品生产行业，以人工分拣为主，自动化程度低，需耗费大量的劳动力，设计一种3-CUR并联机器人，用于食品生产的快速分拣。方法 运用螺旋理论分析了该机构的自由度数目和类型，并且用修正的Grubler-Kutzbach公式对该机构的自由度进行了验证。接着使用D-H运动链参数表示法和欧拉角表示法，求解该机构的位置反解，采用三维动态法和Matlab软件对该并联分拣机器人的工作空间进行了分析与仿真，最后利用ADAMS软件对该机器人的运动性能进行了仿真分析。结果 该机构可以实现一平(沿z轴的平动)两转(绕x轴y轴的转动) 的运动，工作空间大，可达范围广，没有出现奇异点，末端执行器各参数的运动曲线呈有规律的周期性变化，可满足分拣机器人所需的运动和工作范围。结论 该机构运动性能优越，稳定性好，具有良好的工作空间，可实现食品生产过程中的高速自动扫描和分拣，在包装自动化领域具有潜在的应用价值。 |
| 英文摘要: |
| In the traditional food production industry of China, manual sorting is the main method with low automation and a large amount of labor is needed. The paper aims to design a 3-CUR parallel robot for fast sorting in food production. The number and type of the freedom degree of the mechanism were analyzed with the screw theory, and the freedom degree of the mechanism was verified by the modified Grubler-Kutzbach formula. Then the inverse position solution of the mechanism was solved by D-H kinematic chain parameter representation and Euler angle representation; and the workspace of the parallel sorting robot was analyzed and simulated with the three-dimensional dynamic method and the Matlab software. Finally, the motion performance of the robot was simulated with the ADAMS software. The mechanism can realize the movement of one level (along z axis) and two revolutions (around x axis and y axis). It had large workspace and can reach a wide range without singularities. The motion curves of the end-effector parameters changed regularly and periodically, which could satisfy the motion and working range of the sorting robot. The mechanism has excellent motion performance, good stability and good workspace. It can realize high-speed automatic scanning and sorting in food production. It has potential application value in packaging automation. |
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