摘要
为使机器人的工作空间最大化,提高机器人在AI赋能时代食品配料过程中的工作质量和效率,对机器人工作空间进行分析和仿真。建立食品配料机器人在工作过程中的位移方程、正运动方程和逆运动方程,获得机器人在食品配料过程中的运动学方程,在运动学方程的基础上根据机器人末端运动轨迹获得机器人的工作空间边界面,对机器人工作空间进行分析。采用ADAMS机械系统动力学仿真软件对食品配料机器人进行运动仿真,获得机器人在工作空间的速度和位移曲线,为机器人在食品配料过程中的应用提供依据。
In order to maximize the working space of the robot and to improve the working quality and efficiency of the robot in the process of food ingredients in the AI enabled era,the robot workspace is analyzed and simulated.The displacement equation,positive motion equation and inverse motion equation of the food batching robot in the working process are established,and the kinematics equation of the robot in the food batching process is obtained.On the basis of the kinematics equation,the workspace boundary interface of the robot is obtained according to the end motion trajectory of the robot,and the workspace of the robot is analyzed.Adams mechanical system dynamics simulation software is used to simulate the motion of the food batching robot,and the velocity and displacement curves of the robot in the working space are obtained,which provides the relevant basis for the application of the robot in the food batching process.
作者
崔岳
贾惠彬
张华龙
CUI Yue;JIA Huibin;ZHANG Hualong(Langfang Polytechnic Institute,Langfang 065000;North China Electric Power University,Baoding 071000)
出处
《食品工业》
CAS
2021年第5期269-273,共5页
The Food Industry
基金
1+X证书制度下职业院校工业机器人技术专业改革研究(河北省教育科学研究“十三五”规划2020年度一般资助课题2003011)。
