桁架式搬运机器人结构设计及运动参数规划

Structural Design and Motion Parameter Planning of Truss-type Handling Robots

摘要: 配合工业自动化的精度、产能、智能化等要求的快速发展，桁架机器人需要在保持大行程高速度工作的同时，兼具精确性、稳定性等性能要求。首先介绍了其基本组成，并利用Solidworks软件对桁架机器人建模，之后对其执行机构进行了运动需求分析与周期规划；最后，结合传统的梯形加减速算法和传统的余弦加减速算法对其运动参数进行规划，以控制末端搬运执行机构在运动过程中的振动变化在可接受范围内，为桁架机器人结构设计与稳定性优化提供了参考思路。

Abstract: With the rapid development of precision, production capacity, intelligence and other requirements in industrial automation, truss robots need to maintain high speed and large stroke while also meeting performance requirements such as accuracy and stability. Firstly, introduces its basic composition and uses Solidworks software to model the truss robot. Then, conducts a motion demand analysis and cycle planning for its actuator. Finally, combines the traditional trapezoidal acceleration and deceleration algorithm and the traditional cosine acceleration and deceleration algorithm to plan its motion parameters to control the vibration changes of the end handling actuator during the movement process within an acceptable range. This provides a reference for the structural design and stability optimization of truss robots.