摘要
分析袋装物料的装卸现状,提出采用5自由度关节机器人装卸的方法。选择8.5 t的载货汽车和50 kg的水泥袋作为装卸对象,在装卸过程中机器人与车厢侧板不发生干涉,并能到达车厢的每个位置;对机器人的大、小臂长度进行了优化;讨论了大臂的仰角和运动性能,最后得到优化后的大、小臂长度尺寸。
This paper has analyzed the present situation of bagged material in load - unload, and proposed that a five - degree of freedom joint robot should be used in load - unload, Taking the cargo truck （ carrying capacity：8.5 tons） and the cement bag （ net weight：50 kg） as the load - unload object, ensuring that the robot and the compartment side bar can not interfere in the load - unload process and that the robot arm can arrive each position in the compartment, we optimize the big and small arm lengths of the robot and discuss the big arm elevation angle and the movement performance. Finally the optimized arm length size is obtained.
出处
《济南大学学报（自然科学版）》
CAS
2007年第3期238-242,共5页
Journal of University of Jinan(Science and Technology)
基金
山东省教育厅科技计划(J05B02)
关键词
袋装物料
机器人
臂长
装卸
优化
bagged materials
robot
arm - length
load -unload
optimization
