包装与食品机械
包裝與食品機械
포장여식품궤계
PACKAGING AND FOOD MACHINERY
2014年
2期
34-36,57
,共4页
晏祖根%王瑞泽%孙智慧%莫文超%范振铎
晏祖根%王瑞澤%孫智慧%莫文超%範振鐸
안조근%왕서택%손지혜%막문초%범진탁
并联机器人%分装系统%机构分析%正解%反解
併聯機器人%分裝繫統%機構分析%正解%反解
병련궤기인%분장계통%궤구분석%정해%반해
parallel robot%packaging system%mechanism analysis%forward kinematics%reverse kinem-atics
针对我国食品生产与包装的实际情况，基于并联机器人、机器视觉等先进技术，构建面向食品生产与包装的高速并联机器人分装系统。充分考虑机构的几何特性，建立了新型四自由度并联机构的分析模型，推导了并联机构反解的显式解，建立了机构正解Newton-Raphson迭代求取算法。该方案可为并联机器人分装系统的实时控制提供理论基础。
針對我國食品生產與包裝的實際情況，基于併聯機器人、機器視覺等先進技術，構建麵嚮食品生產與包裝的高速併聯機器人分裝繫統。充分攷慮機構的幾何特性，建立瞭新型四自由度併聯機構的分析模型，推導瞭併聯機構反解的顯式解，建立瞭機構正解Newton-Raphson迭代求取算法。該方案可為併聯機器人分裝繫統的實時控製提供理論基礎。
침대아국식품생산여포장적실제정황，기우병련궤기인、궤기시각등선진기술，구건면향식품생산여포장적고속병련궤기인분장계통。충분고필궤구적궤하특성，건립료신형사자유도병련궤구적분석모형，추도료병련궤구반해적현식해，건립료궤구정해Newton-Raphson질대구취산법。해방안가위병련궤기인분장계통적실시공제제공이론기출。
According to the actual situation of China's food production and packaging ,the high-speed parallel robot packaging system is constructed based on parallel robot ,machine vision and other advanced technology.Based on analyzing the geometric characteristics of the novel mechanism ,the kinematics model of the novel 4-DOF parallel mechanism is built .The explicit inverse kinematics solution of the mechanism is deduced,and the Newton-Raphson iterative method for solving process for the forward kinematics solution is built ,which provides a theoretical basis for the parallel robot real-time control.
