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机器人结构参数的选取对机械手所能到达的工作空间有着很大的影响 同时 ,机器人的工作空间也是对其评价的重要指标 文中在分析堆垛机器人机构的基础上 ,绘制出它的工作空间 ,提出了以作业空间为其重要约束条件 ,以结构最紧凑和重量最轻为其目标函数 ,建立了HP99型堆垛机器人结构参数优化设计的数学模型 ,并用MATLAB软件编程 ,求出了在满足作业空间条件下的堆垛机器人的结构参数优化值
Robot structure parameters of the robot can reach the work space has a great impact on the same time, the robot’s work space is also an important indicator of its evaluation in the analysis of the mechanism based on the palletizing robot draws its work space, put forward Taking job space as its important constraint, the most compact and the lightest one are its objective functions. The mathematic model of structural parameter optimization design of HP99 palletizing robot is established. By using MATLAB software programming, Optimal structural parameters of palletizing robots under conditions