摘要码垛机器人在个高速发展的时代被赋予了重要的意义，它的码垛能力以及智 能化的程度是整个码垛系统能力的关键；其操作区域、码垛效率、稳定性等工作 性能关系着其整个码垛系统设计研究的成败。本文将分为以下三个部分对码垛机 器人进行研究和分析：84075

第一部分主要是对码垛机器人的研究背景、国内外研究现状及发展趋势和常 用的码垛系统进行介绍，然后提出了本文的研究方法和内容。

第二部分是对码垛机器人的工作原理及其控制系统进行分析和研究，通过对 机器人的结构特点和工作原理确定研究对象；接着在其控制系统中分为硬件和软 件两部分进行了研究分析。

第三部分是首先对码垛机器人的运动学以及动力学进行数学基础的研究，探 讨了直线的轨迹生成算法，然后通过运用MATLAB 软件建立仿真界面，联系实际 对机器人的直线轨迹生成进行了仿真，完成了系统的设计。

仿真实验表明：本文中所设计的直线的轨迹生成算法可以在机器人的实际码 垛过程中获得较好的效果。

毕业论文关键词： 码垛机器人；控制系统；控制结构；运动学；仿真

ABSTRACT Palletizing robot in the era of a high-speed development have an important meaning, its ability of pallet and intellectualized degree is the key to the entire palletizing system capacity; Its operating area, stacking efficiency and stability performance relationship with its success or failure of the entire palletizing system design research。 This paper will be pided into the following three parts of palletizing robot research and analysis:

The first part is mainly for palletizing robot research background, research status and development trend at home and abroad and palletizing system in common use is introduced, and then put forward in this paper, research methods and contents。

The second part is on the working principle of palletizing robot and its control system carries on the analysis and research, through to the structural characteristics and working principle of the robot to determine the object of study; Then, in the control system is pided into two parts of hardware and software are analyzed。

The third part is the first to the pallet mathematical foundation for the kinematics and dynamics of the robot study, discusses the straight line trajectory generation algorithm, and then by using MATLAB software to establish the simulation interface, contact the actual linear path generation of robots are simulated, completed the design of the system。

Simulation results show that: in this paper the design of a straight line trajectory generation algorithm in robot palletizing process can get good results。

Key words: palletizing robot; Control system; Control structure; Kinematics; The simulation

目录

第一章 绪 论 1

1。1 研究背景 1

1。1。1 传统码垛模式 1

1。1。2 现代机器人的码垛技术 1

1。2 研究现状及发展趋势 2

1。3 常用码垛系统介绍 3

1。4 本文主要研究内容及方法 6

1。5 本章小结 6

第二章 码垛机器人的工作原理 7

2。1 引言 7

2。2 码跺机器人结构介绍 7

2。2。1 码垛机器人的说明 7

2。2。2 码垛机器人的结构特点