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- Title
上甑机器人运动分析和轨迹规划.
- Authors
刘文斌; 张贵宇; 庹先国; 彭英杰; 罗 琪; 朱雪梅
- Abstract
In order to avoid the sharp changes of vibration and acceleration during the operation of the retort loading robot, the kinematic model of the robot was established by analyzing the structure of the six-axis robot using the DH parameter method, and the positive and negative kinematic expressions were solved. The results show that the working space range of the retort loading robot is -3000-3000 mm for x and y axes and -1000-4 000 mm for z axis, which can meet the demand of retort loading and spreading. For local replenishment, the trajectory planning is carried out by using quintic and septical polynomial interpolation. After analysis and comparison, the impact curve of the quintic polynomial has only 1 trough, while the septical polynomial has 3 peaks and troughs. Therefore, the quintic polynomial trajectory planning is selected. The study is of reference significance for the realization of automated steam detection and retort loading.
- Subjects
POLYNOMIALS; ROBOTS; INTERPOLATION; KINEMATICS
- Publication
Packaging & Food Machinery, 2023, Vol 41, Issue 3, p107
- ISSN
1005-1295
- Publication type
Article
- DOI
10.3969/j.issn.1005-1295.2023.03.018