码垛机器人运动学分析及仿真研究

针对当前码垛机器人实际运动规划难度较大的问题，以某真实生产线上六自由度码垛机器人为研究对象，采用D-H法建立机械臂数学模型，对机械臂的正运动学、逆运动学进行分析，确定码垛机器人的工作空间。使用Robot Studio软件对末端机械爪、托盘、物料、传送链等进行建模，完成虚拟场景空间布局，通过编程实现码垛机器人的运动仿真。经综合调试，系统工作稳定、可靠，对现阶段码垛机器人的设计与仿真有一定借鉴意义。

Kinematics Analysis and Simulation Research of Palletizing Robot

In view of the difficulty of actual motion planning of palletizing robot, taking the 6-DOF palletizing robot as the research object, uses D-H method is used to establish the mathematical model of the manipulator, analyze the forward kinematics and inverse kinematics of the manipulator, and determine the workspace of the palletizing robot. The Robot Studio software is used to model the end mechanical claw, pallet, material and conveyor chain, complete the spatial layout of virtual scene, and programming to realized the motion simulation of palletizing robot. After debugging, the system works stably and reliably, which has a certain reference significance for the simulation design of palletizing robot at this stage.