双梁堆垛机械手协同动作优先度的模糊量化与运动规划OA

To enhancethe efficiency of classification,stacking and packaging of customized door and window materials,the mechanism trajectory and motion characteristics of double-beam stacker are designed and analyzed.Aiming at the dy-namic interference problem of motion trajectory generated by the double-beam stacker during the stacking process,this paper proposes a discriminant analysis method based on the optimal feasibility of relative positions.On this basis,differ-ent motion strategies are formulated for different motion characteristics,and a collaborative planning model of the double-beam stacker is constructed.The trajectory motion characteristics are analyzed through standardized kinematic modeling to complete the optimization of the feasibility planning model.A kinematic model is established by combining ADAMS with Matlab Simulink,and the simulation verification of the manipulator's planning model is carried out.Numerical analysis and verification of the solution set of the motion model using the system simulation technology of ADAMS and Simulink show that the displacement trajectories of the two manipulators along the x-axis have no overlapping regions,which effectively avoids the risk of interference and collision.The velocity curve is continuous without abrupt changes,and the acceleration is concentrated in the range of 2-4 m/s2,which confirms the effectiveness of the established motion model.The dual-manipulator motion planning model established in this study can effectively enhance the efficiency of the classification and stacking process of door and window materials,and has high reliability.The model is of great sig-nificance for promoting the intelligent classification,stacking and packaging of customized door and window materials.