中文摘要：

针对应用在医药包装生产线上的码垛机器人的工作空间狭小和臂长冗余的问题,提出了一种结合图解法和解析法来分析求解的新方法。建立了码垛机器人的D-H正运动学理论模型,并验证了模型的正确性。在此基础上考虑实际工况,通过遗传算法工具箱对其臂长和工作空间进行了多目标参数优化,获得了符合工作要求的优化设计变量。最后通过Sim Mechanics模块对码垛机器人进行了结构建模和工作空间仿真。研究结果表明,所获得的优化设计变量满足预期的设计要求,码垛机器人的有效臂长明显缩短,工作空间显著提高且没有内腔,具有很好的工作性能,同时为码垛机器人的结构设计和参数优化提供了理论依据。

英文摘要：

Aiming at the problem of the narrow working space and the redundant arm length of the palletizing robot applied in pharmaceutical packaging production line,a new method combining the graphic method and analytic method was proposed to analyze and solve this problem.D-H positive kinematics theory-model of palletizing robot was built and the correctness of the model was verified,on the basis the actual working conditions were considered. Matlab genetic algorithm toolbox was used to complete multi-objective parameter optimization on the arms＇ length and working space,and the optimal design variables conforming to the job requirement were obtained. Finally,through the SimMechanics modular,the model of palletizing robot was built and the workspace of palletizing robot was simulated. The results indicate that the obtained optimization design variables can meet the expected requirements of the job,the palletizing robot＇s effective arm length is apparently shortened and its working space is apparently increased without cavity and has good working performance,simultaneously the theory basis is provided for the structural design and optimization of palletizing robot.