针对白酒生产线码垛作业,设计了专门的码垛机器人,利用平行四边形机构对码垛机器人进行了结构设 计。 再根据码垛机器人的结构特点,运用 D-H 法对运动模型进行了位姿和速度的正反解。 在此基础上,利用 ADAMS 软件对机器人的运动过程进行了仿真,得到了关节扭矩、角速度和角加速度曲线,为后续工作的控制系 统设计提供依据。

According to the palletizing job of liquor production line, a special palletizing robot was designed by using parallelogram mechanism. The positive and negative solution of motion model pose and speed was solved using the DH method according to the structural characteristics of palletizing robot. The robot motion process was simulated using ADAMS software. The torque, angular velocity, and angular acceleration curves of joints were obtained. The purpose was to provide basis for the control system design.