码垛机器人运动学分析与仿真.pdfVIP

610031 ABB IRB660 D-H TP242 A doi 10.3969/j.issn.1006-0316.2015.01.016 (2015) 01 0062 05 Kinematics simulation of palletizing robot XIONG Yan-meiYANG Yan-dong ( College of Mechanical Engineering, Southwest Jiaotong University, Chengdu 610031, China ) Abstract In order to evaluate the work ability of palletizing robot and realize the accurate control of operation, the workspace need to be calculated and trajectory must to be planned. With the ABB IRB660 palletizing robot as example, the workspace is simulated on the base of D-H matrix, then, the trajectory planning of specific task is finished. The workspace simulation results showed that palletizing robot rod parameters and joint parameters are designed to meet the work requirements; palletizing tasks of the proposed trajectory planning results showed that this trajectory planning reached the purpose of optimal exercise time, which considering the boundary conditions of velocity and acceleration, etc. Verified the mechanism design is reasonable. This research is helpful for the structure design and motion control of palletizing robot, and laid the foundation for precise control and dynamics of palletizing robots. Key words palletizing robot workspace trajectory planning kinematics simulation ABBFANUCFUJIKUKA