基于DELTA机构的堆垛机器人
A Palletising Robot Based on the DELTA Robotic Mechanism
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摘要: 介绍了一种基于DELTA机器人机构的堆垛机器人设计。这种堆垛机器人和同等规格的 串联机器人相比,具有高刚度、高精度和低机动质量等特点,适合于高速堆垛及搬运等操作。此设 计还具有其他一些潜在应用。讨论了DELTA机构的奇异形位和运动学逆解等。Abstract: A design of palletizing robot based on the DELTA robotic mechanism is presented in the paper. The robot has high rigidity, high accuracy, and low mobile mass relative to an equivalent serial robot. It is suitable to be used for rapid palletizing and transfer operating. The design could have some other potential applications. The singularities and inverse kinematic solution of the DELTA robot are discussed.
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Key words:
- kinematics /
- robots /
- singularity /
- palletisation /
- DELTA mechanism
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