摘要
针对棉纺车间棉筒的搬运问题,运用Solid Works软件设计了搬运机器人的3D模型。采用D-H法建立机器人的运动学方程,进而对运动学的正问题和逆问题进行求解。最后以ADAMS作为仿真工具,从理论上分析机器人运动,验证了机器人设计的可行性,为机器人实现棉筒搬运问题提供了依据。通过理论计算值与仿真结果进行对比分析,结果表明该机器人末端执行器在竖直方向运行平稳,进而为后续设计打下基础。
According to the handling problem of cotton cylinder in cotton spinning workshop, 3D model of handing robot is built using Solid Works software. D-H method is adopted to establish the robot kinematics equation, by which the forward problem and inverse problem are all solved. Finally, theoretical analysis is conducted on movement of robot by using simulation tool of ADAMS, and the feasibility of design for the robot is verified, which will provide referential basis for transferring cotton cylinder with robot. Comparison between the results of theoretical calculation and simulation analysis shows that the robot has stability in the vertical direction, which lays the foundation for subsequent design.
出处
《机械工程师》
2016年第4期26-28,共3页
Mechanical Engineer
