目的 分析在机器人设计和托盘码垛布局规划过程中码垛机器人的工作空间。 方法 用 D-H法则建立运动学方程,根据运动学方程对四轴型的码垛机器人进行分析,最后利用矩阵变换法建立码垛机器人位姿变化关系,求解运动学的正逆解,并用 Matlab 软件的图形用户界面( GUI ) 对求解结果进行仿真。 结果 得到了机器人的可达工作空间图,工作空间在 x-y 平面投影图和工作空间在 x-z 上的平面投影图。 结论 通过分析 Matlab 软件的仿真结果,可以直观地得到该码垛机器人的工作空间。

Objective To analyze the robot working-space in the whole robot design process and the pallet packing layout planning process. Methods The kinematics equation was established by using the D-H method and then a four-axis stacking robot was analyzed according to this kinematics equation. At the end, the matrix approach was used to establish the position and pose transformation relationship of palletizing robot. Its positive and inverse kinematics were presented. The calculated results were simulated using the Graphical user interface of software Matlab. Results The work space diagram of the robot, the projection of the workspace in the x-y plane and the projection of the workspace in the x-z plane were obtained. Conclusion The workspace of palletizing robot is displayed in a very intuitive form through the analysis of simulation result attained by the software Matlab.