双臂机器人弯管缠绕作业的运动学分析

Kinematics of a Two - arm Robot in Filaments Winding on a Curvilinear Axis Tube

在分析双臂机器人对直轴芯模环向缠绕的基础上，提出了用３Ｒ－３Ｐ型双臂缠绕机器人对空间弯管芯模进行环向缠绕的工艺方案：用３Ｒ臂夹持芯模以及调整芯模的方位，用３Ｐ臂控制夹持纱带丝嘴的运动。通过运动学分析，得到了双臂协调作业的运动约束力程组，求解出了各活动关节的位移，为实现双臂缠绕机器人空间协调作业的运动学控制提供了理论依据。

The technique winding filaments on a tube mandril of spatial curvilinearaxis with a 3R - 3P two - arm robot is suggested based on analysis of winding filaments ona straight axis tube with the robot. The 3R arm holds mandril and adjusts the position andorientation of the mandril. The 3P arm controls the motion of the end - effector offilaments. For the two arm coordinated motion the kinematic constraint equations areestablished. Then the kinematics of the robot is analyzed for winding filaments on the tubemandril. The kinematic equations of the two arm coordinated motion are derived and eachjoint displacement of the two - arm robot is calculated.