摘要
以酒盒包装的实际生产线为生产背景,对生产线上SCARA机器人的动作过程进行了阐述。以该机器人为研究对象,通过ADAMS对机器人进行了运动学分析。根据D-H参数法对机器人的T矩阵进行了推导,并通过该机器人机械臂的位移、速度及加速度曲线讨论了机器人的运动性能,结果表明该机器人具有良好的运动学性能,在酒盒生产线上具有良好的应用前景。
Taking the actual production line of white spirit box packaging as the production background,the movement process of SCARA robot on the production line is described.Taking the robot as the research object,the kinematics analysis of the robot is performed through ADAMS.The T-matrix of the robot is derived by D-H parameter method,and the kinematic performance of the robot is discussed by the displacement,velocity and acceleration curves of the robot arm.The results show that the robot has good kinematics performance and good application prospect in the production line of white spirit box.
作者
王远
陈晔
WANG Yuan;CHEN Ye(Department of Mechanical and Electronic Engineering,Shanxi Engineering Vocational College,Taiyuan 030009,China;School of Mechanical Engineering,North University of China,Taiyuan 030051,China;Quality Inspection Department,Shanxi Design and Research Institute of Mechanical and Electrical Engineering Co.,Ltd.,Taiyuan 030009,China)
出处
《机械工程与自动化》
2022年第2期30-32,共3页
Mechanical Engineering & Automation
基金
山西省重点研发计划(201803D421028,201903D421051)
山西省研究生创新项目(2021Y581)。
关键词
SCARA机器人
酒盒包装生产线
运动学分析
SCARA robot
white spirit box packaging production line
kinematic analysis
