| 自动包装机机器人手臂系统建模 |
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| 引用本文： | 徐伟君,邵陆寿,王川,刘后广. 自动包装机机器人手臂系统建模[J]. 包装与食品机械, 2006, 24(6): 14-17 |
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| 作者姓名： | 徐伟君 邵陆寿 王川 刘后广 |
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| 作者单位： | 安徽农业大学工学院,合肥,230036;安徽农业大学工学院,合肥,230036;安徽农业大学工学院,合肥,230036;安徽农业大学工学院,合肥,230036 |
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| 摘 要： | 包装机械自动化水平日益提高,为了实现各种复杂的包装,利用机器人手臂模拟人手的运动已日益迫切。论文运用了基于插值样条函数的轨迹规划法,机器人手臂拉格朗日动力学方程建立了系统数学模型,为自动包装机机器人手臂系统设计提供了新思路。
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| 关 键 词： | 自动包装机机器人手臂 建模 轨迹规划 拉格朗日动力学方程 |
| 文章编号： | 1005-1295(2006)06-0014-04 |
| 收稿时间： | 2006-08-16 |
| 修稿时间： | 2006-08-16 |
Modeling and Simulation of Two Degree-of-freedom Automation Packing Rigid Robot System |
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| XU Wei-jun,SHAO LU-shou,WANG Chuan,LIU Hou-guang. Modeling and Simulation of Two Degree-of-freedom Automation Packing Rigid Robot System[J]. Packaging and Food Machinery, 2006, 24(6): 14-17 |
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| Authors: | XU Wei-jun SHAO LU-shou WANG Chuan LIU Hou-guang |
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| Affiliation: | Engineering Institute, Anhui Agricultural University, Hefei 230036, China |
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| Abstract: | The leve of packing automation increase rapidly.To realize different complex packing,using the rigid robot system to simulate the movement of human hands is just needed.This paper using trajectory planning based on spline function,rigid robot Lagrangian kinetics set up system mathematical model.This method offers a new thought way for designing automation packing rigid robot system. |
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| Keywords: | automation packing rigid robot mathematical model trajectory planning Lagrangian kinetics |
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