基于李群理论的并联码垛机器人构型综合

码垛机器人是一种用于生产线上物料堆垛与机床上下料的机器人,现有的码垛机器人多采用串联结构,而串联结构又具有误差累计大、刚度差、精度差等缺点。并联机构是一种动静平台通过多条支链联接而成的机构,具有刚度大、误差累积小、负载能力强等优点,将并联机构引入码垛机器人领域有望解决现有的串联码垛机械手的误差累积大、刚度差等问题。而现有的并联机构还未成熟,尤其是可用于码垛行业的构型明显不足。采用李群理论进行了并联码垛机器人的构型综合,获得了多种能满足搬运码垛任务的并联机构。

Type Synthesis of Parallel Palletizing Robot Mechanism Based on Lie Group

Palletizing robot is a kind of robot used for material stacking on a production line, machine loading and un- loading. Most of existing robot palletizers adopt series structure which has some drawbacks such as big accumulative error, poor rigidity and accuracy. Parallel mechanism is a mechanism of static and dynamic platform connecting each other through a plurality of branched chain, has the advantages of high stiffness, small accumulative error and strong load capacity. The parallel mechanism is introduced into palletizing robot field and expected to solve above-mentioned faults of existing tandem palletizing manipulator. While the existing parallel mechanism is immature, especially config- uration can be used for palletizing industry is obviously insufficient. This paper makes a configuration synthesis parallel palletizing robot with the Lie group theory, obtained a variety of palletizing tasks.