PT1300型局部闭链式码垛机器人动力学分析

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码垛机器人的整机动态特性时于其负载、运行速度和稳定性具有重要意义。而动态性能提高的基础是其动力学模型的准确性。基于D-H法和凯恩法分别建立了PT1300型码垛机器人的运动学、刚体逆动力学模型。并采用基于理论动力学模型的Matlab方法和基于虚拟样机的Solidworks Motion机械仿真方法，得到码垛机器人主臂与前臂驱动力矩曲线。经对比分析，两种方法所得结暴吻合．验证了动力学模型的合理性，为码垛机器人尺度参数优化以及电机参数预估提供理论依据。

A palletizing robot＇s dynamic properties, whose improvement basis is the accuracy of dynamic model, are important for its load. speed and stability performance. In the paper, based on the D-H method and Kane method, the rigid body kinematics and inverse dynamics models of PT1300 type palletizing robot were established,and the driving torque curves of main arm and forearm were obtained by the dynamic simulation done with the virtual prototype in Solidworks Motion and theoretical model of kinematics in Matlab. Through the comparison of the two methods, their results agree with each other,verifying the reasonability of the dynamics model and providing the theory foundation for dimension synthesis and estimating the motor parameters.

码垛机器人，仿真，运动学，动力学，palletizing robot，simulation，kinematics，dynamics。

PT1300型局部闭链式码垛机器人动力学分析。