高速棒材生产线上棒材多层分布或者交叉分布现象,导致无法实现精确分钢。设计了4自由度分钢机械手,在机器视觉引导下实现在像素坐标系中机械手定位和分钢轨迹确定。建立了分钢机械手运动学方程,并分析了机械手主要关节的轨迹规划曲线。仿真结果表明,分钢机械手关节的位置、速度和加速度曲线平滑,针对棒材堆叠情况能实现平稳分钢。 High-speed bar production line bar multi-layer distribution or cross-distribution phenomenon, resulting in failure to achieve accurate steel division. A 4-DOF splitter manipulator is designed, which can be used to determine the position of manipulator and the separation of steel tracks in the pixel coordinate system under the guidance of machine vision. The kinematic equation of steel manipulator is established and the trajectory planning curve of the main manipulator is analyzed. The simulation results show that the position, velocity and acceleration curve of the joints of the steel manipulator are smooth, and the stable steel splitting can be achieved according to the stacking conditions of the rods.