摘要
运动学与轨迹规划是机器人实现零件智能分拣的关键。文章通过对Delta机器人进行数学建模,采用几何法和代数法推导了其运动学正反解。根据分拣任务要求,在MATLAB中进行运动学仿真分析,结合SolidWorks完成了3种方法的门型轨迹规划动态仿真。仿真结果验证了该机器人机械结构参数设计的合理性以及正反解算法和运动轨迹的正确性,为智能分拣实验的实现提供了丰富的数据和理论支持。整个过程为工业机器人技术仿真与实验教学研究和改革提供了一套完整的方案。
Kinematics and trajectory planning are the key points for robot to realize intelligent sorting of parts.In the article,the Delta robot is mathematically modeled and its kinematic positive and negative solutions are derived using geometric and algebraic methods.According to the requirements of the sorting task,Kinematics simulation analysis is carried out in Matlab,and the dynamic simulation of three methods of gate trajectory planning is completed in combination with SolidWorks.The simulation results verify the rationality of the robot’s mechanical structure parameter design,as well as the correctness of the forward and inverse solution algorithm and the movement trajectory,which provides rich data and theoretical basis for the realization of intelligent sorting experiments.The entire process provides a complete solution for the research and reform of industrial robot technology simulation and experimental teaching.
作者
刘洁
吴阳
张亚勤
庞建欣
LIU Jie;WU Yang;ZHANG Yaqin;PANG Jianxin(College of Intelligent Equipment Engineering,Taihu University of Wuxi,Wuxi 214000,China)
出处
《无线互联科技》
2024年第20期105-108,共4页
Wireless Internet Science and Technology
基金
江苏省高校自然科学研究面上项目,项目编号:20KJB210012
教育部产学合作协同育人项目,项目编号:202102038001
无锡市软科学研究课题,项目编号:KX-24-B40。
关键词
工业机器人
仿真
智能分拣实验
教学分析
industrial robot
simulation
intelligent sorting experiment
teaching analysis
