摘要
综合新型四自由度并联机构的实际约束条件,建立了新型机构的运动学分析模型,求取了机构位置反解的显式解,建立了位置正解的Newton-Raphson数值迭代算法,优化了机构的尺度参数.针对我国食品生产与包装的实际需求,基于新型并联机构和机器视觉等先进技术,构建了面向食品生产与包装的自动高速并联机器人分拣系统.
The high-speed parallel robot with all actuators fixed on its base can perform pick- and-place operations at high-speed and high-acceleration, which is widely used in food pro- duce and electronic manufacturer. According to the actual constrained condition, the kine- matics model of the novel 4-DOF parallel mechanism was modeled. The explicit inverse kine- matics solution of the mechanism was deduced, and the Newton-Raphson iterative method for solving process of the forward kinematics solution was built, the size parameters were opti- mized. To improve the practical situation for food sorting in our country, the high-speed par- allel robot packaging system was constructed based on the parallel mechanism and machine vision.
出处
《哈尔滨商业大学学报（自然科学版）》
CAS
2013年第3期323-327,共5页
Journal of Harbin University of Commerce：Natural Sciences Edition
基金
国家"十二五"科技支撑计划项目(2011BAD24B01)
