一种装箱作业并联机器人机构的运动性能

目的针对目前食品、药品等装箱作业要求,将一种新型二自由度平面并联机器人用于装箱生产线的作业机构,并对其进行运动性能研究,确定其能否满足生产要求。方法对并联机构进行运动学分析,建立并联机器人的雅可比矩阵,利用几何法求解位置正、逆解;引入稳定性、运动分辨率和刚度性能指标,对机构进行运动性能分析,绘制稳定性和运动分辨率在工作空间内的性能分布图谱,研究机构在竖直方向上的刚度性能。结果该并联机构在实际装箱作业中的运动性能较为稳定,抓取或者放置物体阶段具有较高精度,且竖直方向的刚度较高。结论该新型二自由度平面并联机器人能够满足产品的装箱作业,在实际装箱作业中取得了广泛应用。

The Kinematic Performance of a Parallel Robot Mechanism for Packaging

The work aims to determine whether the new parallel robot with 2-DOF (degree of freedom) plane can meet the production requirements by applying it to the packaging production line and researching its kinematic performance, with respect to the packaging requirements of current food and drug. By means of analyzing the kinetics of parallel mechanism and establishing the Jacobian matrix of parallel robot, geometric method was used to obtain the positive and inverse solutions. Meanwhile, stability, kinematic resolution and stiffness indicators were introduced to analyze the kinematic performance of the mechanism, draw the performance distribution map of stability and kinematic resolution in the working space, and study the stiffness of the mechanism in the vertical direction. The research showed that the kinematic performance of the parallel mechanism in the actual packaging was quite stable. The parallel mechanism was of high accuracy when grabbing or placing the object and the stiffness in vertical direction was quite high. This new parallel robot with 2-DOF plane can satisfy the packaging requirements of products and it has been widely used in the actual packaging.