码垛机器人运动特性的研究与实现-控制工程专业毕业论文.docxVIP

码垛机器人运动特性的研究与实现The 码垛机器人运动特性的研究与实现 The Research and Implementation of Motion Characteristics of the Palletizing Robot Abstract The palletizing robot，which is in accordance with the integrated unitized thought，will be one of the materials according to certain mode stack into the crib，SO 2Ls to realize the material storage，loading and unloading，handling and transportation of logistics activities．In recent years，with the improvement of industrial automation and intelligent level，the palletizing robot which becomes the research focus in the industrial robot，plays an increasingly important role in logistics field．Topic for the design of the palletizing robot has carried on the related theory research．In view of the problems encountered in the process of robot debug百ng，the article has carried on the theoretical analysis，and puts forward the solution，and carries out the experimental verification． Firstly，this paper introduces the design of palletizing robot mechanical structure．On the basis of this，it uses geometrical relationship to analyze the movement of machine rate transmission mechanism．Through the establishment of reference coordinate system optimization calculation，the use of homogeneous transformation between the coordinate system，has positive and negative solutions of palletizing robot kinematics position and its validity is verified by the actual measured data．First order and second order derivative are used to get the kinematics of positive and negative solution of velocity and acceleration． Singularity of robot is analyzed based on the Jacobi matrix and according to the mechanical constraints，it uses the theory of the numerical method to calculate the palletizing robot workspace． Secondly，it uses the method of Lagrange to analyze the kinetic energy and potential energy of the movement of robot’S each bar．The establishment of a dynamic full form equations，theoretically analyzes its dynamic performance．The structure of the palletizing robot model is gained u