胡晓锋.基于袋装食品装箱的并联机器人的轨迹规划研究[J].包装工程,2020,41(17):209-212.
HU Xiao-feng.Trajectory Planning of Parallel Robot Based on Bagged Food Packing[J].Packaging Engineering,2020,41(17):209-212. |
| 基于袋装食品装箱的并联机器人的轨迹规划研究 |
| Trajectory Planning of Parallel Robot Based on Bagged Food Packing |
| 投稿时间：2019-09-29 修订日期：2020-09-10 |
| DOI：10.19554/j.cnki.1001-3563.2020.17.029 |
| 中文关键词: 袋装食品 装箱 并联机器人 轨迹规划 |
| 英文关键词: bagged food packing parallel robot trajectory planning |
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| 中文摘要: |
| 目的 为了使机器人能够更加准确高效地完成袋装食品的装箱工作，对自动完成袋装食品装箱的并联机器人的工作空间和轨迹规划进行研究。方法 根据食品包装生产线上自动装箱的工况，介绍一种对轻小型袋装食品完成自动装箱操作的四自由并联机器人的基本结构，并运用Matlab软件对其进行工作空间分析，通过修正梯形轨迹规划算法对其进行轨迹规划，并运用ADAMS软件验证分析。结果 由得到的机器人工作空间图及机器人动平台的运动曲线图可知，机器人的作业范围能够达到半径300 mm、高度140 mm，动平台的速度曲线和加速度曲线均变化平滑，无突变，在机器人启停时速度与加速度均为0。结论 验证了机器人设计的合理性及修正梯形轨迹规划的可行性，此轨迹规划可以很好地适用于袋装食品装箱工序。 |
| 英文摘要: |
| The work aims to study the workspace and trajectory planning of a parallel robot that automatically completes the packing of bagged food, so as to make the robot more accurate and efficient. According to the working conditions of automatic packing in food packaging production line, the basic structure of a four-free parallel robot for automatic packing of light and small-sized bagged food was introduced, and the workspace was analyzed by MATLB software. The modified trapezoidal trajectory planning algorithm was used to make the trajectory planning, and ADAMS software was used to verify the analysis. From the obtained workspace diagram of the robot and the motion graph of the robot moving platform, the operating range of the robot could reach a radius of 300 mm and a height of 140 mm and the velocity curve and acceleration curve of the moving platform changed smoothly without sudden change. The velocity and acceleration were 0 when the robot started and stopped. The rationality of robot design and the feasibility of modified trapezoidal trajectory planning are verified. The trajectory planning can be well applied to the packing process of bagged food. |
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