| 基于MATLAB的路锥收放机器人运动仿真研究 |
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| 引用本文： | 崔龙飞,张龙,孟庆爱. 基于MATLAB的路锥收放机器人运动仿真研究[J]. 江苏机械制造与自动化, 2014, 0(1): 104-108 |
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| 作者姓名： | 崔龙飞 张龙 孟庆爱 |
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| 作者单位： | 南京理工大学机械工程学院,江苏南京210094 |
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| 摘 要： | 路锥收放机器人是全自动交通路锥收放车上的一个重要机构,负责按照一定的规律把路锥从车上放下,还可以自动将路锥从地面收起,放到车上指定位置.按照设计指标对收放机器人进行了参数设计,讨论了该机器人的运动学问题,然后在MATLAB环境下,用RoboticsToolbox对该机器人的轨迹规划进行了仿真,通过仿真,观察到机器人各个关节的运动,并得到了所需的数据,仿真结果表明所设计的参数是正确的,能够达到预定的目标.
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| 关 键 词： | 路锥收放车 机器人 轨迹规划 仿真 MATLAB |
Study of Simulation of Cones Placing and Retrieving Robot Motion Based on MATLAB |
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| CUI Long-feiNanjing University of Science and Technology,Nanjing,China ZHANG longNanjing University of Science and Technology,Nanjing,China MENG Qing-ai. Study of Simulation of Cones Placing and Retrieving Robot Motion Based on MATLAB[J]. Jiangsu Machine Building & Automation, 2014, 0(1): 104-108 |
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| Authors: | CUI Long-feiNanjing University of Science Technology Nanjing China ZHANG longNanjing University of Science Technology Nanjing China MENG Qing-ai |
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| Affiliation: | CUI Long-fei(Nanjing University of Science and Technology, Nanjing 210094,China) ZHANG long(Nanjing University of Science and Technology, Nanjing 210094,China) MENG Qing-ai(Nanjing University of Science and Technology, Nanjing 210094,China) |
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| Abstract: | The robot which is used to place and retrieve the cones is an import mechanical device on the auto cone machine.This robot automatically lays down cones at regular intervals,and then picks them up again later from the roadway.This paper sets up the parameters of a kind of robot,according to some qualification,discusses the problem of the kinematics of the robot and then simulates the kinematics,inverse kinematics and the trajectory planning with the robotics toolbox of the matlab computer program language.Based on the simulation,it observes the motion laws of the robot＇ s joints and obtains the required data.This proves that all the parameters meet the requirement of the design. |
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| Keywords: | cone machine robot trajectory planning simulation matlab |
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