HHRB100搬运机器人码垛程序的离线编程

首先介绍了四自由度搬运机器人的结构特点，然后针对普通示教再现作业方式，提出了码垛机器人离线编程方法。重点对搬运机器人离线码垛过程进行了研究，通过码垛关键参数的输入和码垛空间判断，建立离线编程的基础，给出了机器人码垛的路径规划，最后进行了计算机图形仿真。验证了码垛机器人离线编程方法。

Off-line programming of HHB100 convey robot palletizing

First, the constructive property of four-DOF convey robot was introduced. The off-line pro-gramming methods of palletizing robot is presented in the way teaching and playback. Theprocessing of stacking is researched especially. The off-line program is based on input ofthe key parameters and judgment of stack space, the palletizing path planning is given inthis part. At last, the computer figure simulation is done , which prove the off-line programmethod of palletizing robot.