目的 针对现有砖块打包机械臂因振动导致砖块掉落或破坏的问题,提高其在码垛作业时的运动稳定性。方法 分析砖块打包机械臂的结构与工况,推导其平行机构的运动方程,并对其末端姿态保持特性进行验证;通过标准D-H参数法,对砖块打包机械臂进行正、逆运动学分析;通过MATLAB对机械臂进行最短路径规划仿真,获取机械臂运动周期内各关节位移、速度与加速度随时间变化规律;分析轨迹规划对爪手夹持力的影响。结果 在初始和终止时刻,机械臂各关节的速度与加速度曲线的数值均归零,整体走势连续顺滑,变化幅值平缓无剧烈波动;砖块的总惯性力477.19 N显然小于单对主爪所需的夹持力497.07 N;结论 对机械臂进行最短路径规划可以避免码垛过程中的冲击和振动现象,显著提升机械臂码垛的振动稳定性与夹持可靠性。
Abstract
To address the issue of bricks falling or being damaged due to vibration in the existing brick packing robotic arm, the work aims to improve the motion stability of the robotic arm during the palletizing operation. The structure and working conditions of the brick packing robotic arm were analyzed, the motion equations of its parallel mechanism were derived, and its end posture maintaining characteristics were verified. Then, forward and inverse kinematic analyses of the brick packing robotic arm were carried out with the standard D-H parameter method. The shortest path planning simulation of the robotic arm was performed through MATLAB to obtain the time-varying patterns of joint displacements, velocities, and accelerations during the robotic arm's movement. Finally, the impact of trajectory planning on the gripping force of the gripper was analyzed. At the initial and final moments, the numerical values of the speed and acceleration curves of each joint of the robotic arm were all zero, with a continuous and smooth overall trend, and the change amplitude was gentle without drastic fluctuations. The total inertial force of the brick was 477.19 N, clearly less than the clamping force required for a single pair of main claws, 497.07 N. Performing shortest path planning for the robotic arm can avoid shock and vibration phenomena during the palletizing process, significantly improving the vibration stability and gripping reliability of the robotic arm during palletizing.
关键词
振动 /
运动稳定性 /
平行机构 /
轨迹规划
Key words
vibration /
motion stability /
parallel mechanism /
trajectory planning
{{custom_sec.title}}
{{custom_sec.title}}
{{custom_sec.content}}
参考文献
[1] 马艳艳, 冯金芝. 六自由度机械臂的搬运作业运动规划与仿真[J]. 包装工程, 2025, 46(23): 206-211.
MA Y Y, FENG J Z.Motion Planning and Simulation of a Six-Degree-of-Freedom Robotic Arm for Handling Operations[J]. Packaging Engineering, 2025, 46(23): 206-211.
[2] 王恒, 蒋科坚. 基于分段速度规划的机器人臂运动平滑减振方法[J]. 包装工程, 2023, 44(7): 222-229.
WANG H, JIANG K J.A Robot Arm Motion Smoothing and Vibration Reduction Method Based on Segmented Velocity Planning[J]. Packaging Engineering, 2023, 44(7): 222-229.
[3] 马鹏飞, 高宇, 李宏刚. 智能机械臂运动稳定性分析及轨迹规划[J]. 中国安全科学学报, 2025, 35(S1): 137-143.
MA P F, GAO Y, LI H G.Intelligent Robotic Arm Motion Stability Analysis and Trajectory Planning[J]. China Safety Science Journal, 2025, 35(S1): 137-143.
[4] 海素峰, 于景斌, 李金辉, 等. 矿山智能加水站四自由度机械臂运动特性研究[J].中国安全科学学报, 2023, 33(S2): 158-163.
HAI S F, YU J B, LI J H, et al.Research on Motion Characteristics of a Four-Degree-of-Freedom Robotic Arm for an Intelligent Mine Watering Station[J]. China Safety Science Journal, 2023, 33(S2): 158-163.
[5] YE J T, HAO L N, CHENG H T.Multi-Objective Optimal Trajectory Planning for Robot Manipulator Attention to End-Effector Path Limitation[J]. Robotica, 2024, 42(6): 1761-1780.
[6] HOU C, YIN Z C, WU D, et al.Design and Kinematic and Dynamic Analysis Simulation of a Biomimetic Parallel Mechanism for Lumbar Rehabilitation Exoskeleton[J]. Machines, 2025, 13(8): 728-728.
[7] 李爱成, 唐火红, 冯宝林, 等. 关节式码垛机器人运动学分析与动力学仿真[J]. 机械设计, 2013, 30(10): 16-20.
LI A C, TANG H H, FENG B L, et al.Kinematic Analysis and Dynamic Simulation of an Articulated Palletizing Robot[J]. Mechanical Design, 2013, 30(10): 16-20.
[8] 王新, 高巾膨, 贾承富. 穿戴式上肢康复机器人结构设计及运动学分析[J]. 机械传动, 2025, 49(10): 69-76.
WANG X, GAO J P, JIA C F.Structural Design and Kinematic Analysis of a Wearable Upper Limb Rehabilitation Robot[J]. Journal of Mechanical Transmission, 2025, 49(10): 69-76.
[9] 胡延平, 崔凯. 移运油管机械手设计及其轨迹规划[J]. 机床与液压, 2022, 50(03): 26-30.
HU Y P, CUI K.Design and Trajectory Planning of a Tubing Transfer Manipulator[J]. Machine Tool & Hydraulics, 2022, 50(3): 26-30.
[10] 孙鑫. 重载装填机械臂的轨迹规划与关节高精度伺服控制[D]. 南京: 南京理工大学, 2022.
SUN X.Trajectory Planning and High-Precision Joint Servo Control for Heavy-Duty Loading Robotic Arm[D]. Nanjing: Nanjing University of Science and Technology, 2022.
[11] 赵飞. 六自由度水下作业机械手设计与轨迹规划[J]. 机械设计与制造, 2025(11): 295-298.
ZHAO F.Design and Trajectory Planning of Six-Degree-of-Freedom Underwater Manipulator[J]. Machinery Design & Manufacture, 2025(11): 295-298.
[12] 隋明航, 李艳杰, 郎智明, 等. 巷道管道安装机器人结构设计与分析[J]. 科学技术与工程, 2025, 25(8): 3288-3295.
SUI M H, LI Y J, LANG Z M, et al.Structural Design and Analysis of a Pipeline Installation Robot for Tunnels[J]. Science Technology and Engineering, 2025, 25(8): 3288-3295.
[13] MING Y, WU X M, GUO L, et al.Quintic Polynomial-based Obstacle Avoidance Trajectory Planning and Tracking Control Framework for Tractor-trailer System[J]. International Journal of Control, Automation and Systems, 2019, 17(10): 2634-2646.
[14] XU J, CHANG X N, LIU Y X, et al.Time and Energy Optimal Trajectory Planning for Freight Train Cleaning Robot Based on Seventh-Degree Polynomial Interpolation and an Improved HHO[J]. Alexandria Engineering Journal, 2025, 122 165-179.
[15] DU X Z, LI J P, LI Y H, et al.Design and Analysis of Multi-Robot Collaborative Assembly Line for Oil Filter[J]. Journal of Mechanical Science and Technology, 2024, 38(12): 1-14.
[16] 韩建海. 工业机器人[M]. 第4版. 武汉: 华中科技大学出版社, 2019: 1-5.
HAN J H.Industrial Robot[M]. 4th ed. Wuhan: Huazhong University of Science and Technology Press, 2019: 1-5.
基金
安徽省教育厅优秀科研创新团队-矿山智能技术与装备科研创新团队（2022AH010052）
PDF(3072 KB)
渝公网安备 50010702501716号 渝ICP备15012534号-2
