Objective: Analyzed the workspace of 6-DOF food handling robot and planed the motion trajectory, so as to provide basis for the layout of food handling platform in workstation and the motion control of robot. Methods: Composition and structure of the robot were analyzed, the kinematics model was established, and the kinematics model was verified by MATLAB. Based on this, the workspace of the robot was modeled and solved, the working area of the robot was obtained, and the reasonable layout position of the food handling table was given; combined with the requirements of food handling task, a three-stage quintic polynomial interpolation method was proposed for robot end trajectory planning. The effectiveness of this method was verified by MATLAB simulation and experiment. Results: The reasonable layout space of the food handling table was the area of z＞0 mm and 200 mm＜r＜500 mm. The method of three-stage quintic polynomial trajectory planning can make the robot perform the food handling task smoothly, and increase the accurate control of the point position, speed and acceleration of the robot. Conclusion: The method of three-stage quintic polynomial trajectory planning is effective for the robot to perform the food handling task.
Guo-qing, CAI; Rui-lin, HAO; Li-jie, ZHOU; and Yan, SHI
"Workspace simulation and trajectory planning of food handling robot,"
Food and Machinery: Vol. 38:
9, Article 21.
Available at: https://www.ifoodmm.cn/journal/vol38/iss9/21
 XIONG G,DING Y,ZHU L M.A feed-direction stiffness based trajectory optimization method for a milling robot[C]//Proceedings of the 10th International Conference.Wuhan:Springer,2017:184-195.
 赵相博,潘松峰,吴贺荣,等.食品包装行业的码垛机器人轨迹规划仿真[J].包装与食品机械,2020,38(4):61-65.ZHAO X B,PAN S F,WU H R,et al.Trajectory planning simulation of palletizing robot in food packaging industry[J].Packaging and Food Machinery,2020,38(4):61-65.
 贺莹,梅江平,孙玉德,等.MD-1200YJ码垛机器人腰部支架的多目标结构优化设计[J].食品与机械,2018,34(11):89-95.HE Y,MEI J P,SUN Y D,et al.Multi-objective structural optimization design for the waist mounting bracket of MD-1200YJ palletizing robot[J].Food & Machinery,2018,34(11):89-95.
 杨光,侯钰.工业机器人的使用,技术升级与经济增长[J].中国工业经济,2020(10):138-156.YANG G,HOU Y.The usage of industry robots,technology upgrade and economic growth[J].China Industrial Economics,2020(10):138-156.
 王曦鸣.基于Robotstudio的巧克力装盒生产线仿真[J].包装与食品机械,2020,38(5):55-59.WANG X M.Simulation of chocolate boxing production line based on Robotstudio[J].Packaging and Food Machinery,2020,38(5):55-59.
 杨世明,马庆国,郭翠敏.一种新型烹饪并联机器人位置与工作空间分析[J].食品与机械,2018,34(11):96-100,125.YANG S M,MA Q G,GUO C M.Position and workspace analysis of a novel parallel cooking robot[J].Food & Machinery,2018,34(11):96-100,125.
 王君,陈迪,陈红杰,等.基于MATLAB Robotics Toolbox的UR5机器人轨迹规划与仿真[J].机床与液压,2018,46(23):11-15.WANG J,CHEN D,CHEN H J,et al.Trajectory planning and simulation of UR5 manipulator based on MATLAB Robotics Toolbox[J].Machine Tool & Hydraulics,2018,46(23):11-15.
 李琚陈,曾谊晖.六关节工业机器人工作空间及轨迹规划仿真[J].食品与机械,2017,33(10):98-103.LI J C,ZENG Y H.Simulation of workspace and path design of industrial robot with six joints[J].Food & Machinery,2017,33(10):98-103.
 张蕾,田瑜,李鹏飞,等.四自由度机器人抓取运动目标建模与轨迹规划[J].制造业自动化,2017,39(12):44-48.ZHANG L,TIAN Y,LI P F,et al.Modeling and trajectory planning of four-DOF robot grasping moving target[J].Manufacturing Automation,2017,39(12):44-48.
 韩江,谷涛涛,夏链,等.基于混合插值的工业机器人关节轨迹规划算法[J].中国机械工程,2018,29(12):1 460-1 466.HAN J,GU T T,XIA L,et al.Joint trajectory planning algorithm for industrial robots based on mixed interpolation[J].China Mechanical Engineering,2018,29(12):1 460-1 466.
 WANG X W,YAN Y X,GU X S.Spot welding robot path planning using intelligent algorithm[J].Journal of Manufacturing Processes,2019,42:1-10.
 龙樟,李显涛,帅涛,等.工业机器人轨迹规划研究现状综述[J].机械科学与技术,2021,40(6):853-862.LONG Z,LI X T,SHUAI T,et al.Review of research state of trajectory planning for industrial robots[J].Mechanical Science and Technology for Aerospace Engineering,2021,40(6):853-862.
 CHEMBULY V V M J S,VORUGANTI H K.Trajectory planning of redundant manipulators moving along constrained path and avoiding obstacles[J].Procedia Computer Science,2018,133:627-634.