目的 研究包装机械臂搬运作业的运动规划,使得机械臂的各关节运动平稳,确保其工作效率和稳定性。方法 以六自由度模块化机械臂为研究对象,采用标准D-H参数法设立坐标系,并用Matlab构建仿真模型。然后,根据机械臂实际作业任务需要,选用关节空间方案,并选择五次多项式插值法对包装机械臂进行路径规划,针对生产线上的定点抓取搬运任务,分析产品的作业过程,对抓取、提升、移动、到达等4个作业环节进行路径规划和仿真。结果 所构建的机械臂模型正确,确定了机械臂到达各节点时对应关节的角位置,计算出4个作业任务中各关节的运动位置、速度,其加速度曲线光滑连续,所获得的末端执行器运动曲线与实际作业情况一致,达到了预期目的。结论 机械臂可按期望运动精度,实现产品的抓取和搬运任务目标,其运动模拟分析结果符合实际使用情况,其结果可为机械臂的运动控制和实际应用提供理论基础,对后续机械臂在包装自动化方面的应用有借鉴意义。
Abstract
The work aims to study the motion planning of packaging manipulator during handling operations to ensure smooth movement of each joint and maintain their efficiency and stability. The 6-DOF modular packaging manipulator was selected as the research object, the coordinate system was established with the standard D-H parameter method, and a simulation model was built on Matlab. Then, based on the actual handling tasks, the joint space method was adopted and the quintic polynomial interpolation method was used for path planning. For the fixed-point grasping and handling tasks on the production line, the operation process of the product was analyzed, and the path planning and simulation was conducted for the grasping, lifting, moving, and reaching operations on Matlab. The established manipulator model was correct. The angular positions of each joint when the manipulator reached each state were determined. The motion positions and velocities of each joint in the four operation tasks were calculated and their acceleration curves were smooth and continuous. The motion trajectory curve of the end effector was consistent with the actual operation situation, meeting the expected requirements. The conclusion is that the manipulator can complete the grasping and handling tasks of the packaged products with the expected motion accuracy. The simulation analysis results of its motion are consistent with the actual situation. The results can provide a theoretical basis for the motion control and practical application of the manipulator and offer reference significance for its subsequent application in packaging automation.
关键词
包装机械臂 /
产品搬运 /
运动规划 /
仿真
Key words
packaging manipulator /
product handling /
motion planning /
simulation
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