摘要
基于D-H参数法建立码垛机器人手臂的运动学模型。用MATLAB计算码垛机器人的工作空间以确定完成典型任务的工作轨迹,然后用Pro/E的机构分析模块对码垛机器人进行动力学仿真,求各轴在完成典型任务下的受力情况,为开发码垛机器人选择电机减速机的选型提供理论数据。
The kinematics model of palletizing robot arm which established on the D-H parametric method using MATLAB to calculate the palletizing robot＇s work space and make sure the work locus of completing the typical tasks. Use the mechanical analysis module of Pro/E for the dynamics simulation of the palletizing robot and different titafeeach axis stress condition in computing the typical tasks. Provide the theoretical data for the development of palletizing robot slating motor reducer.
出处
《机电工程技术》
2013年第12期4-8,共5页
Mechanical & Electrical Engineering Technology
基金
广东省教育部产学研结合项目(编号:2011B090400479)
