摘要
从应用工程的角度提出了用双臂机器人进行焊接作业，以提高焊接质量的观点，提出了与之相应的２Ｒ－３Ｐ２Ｒ型双臂机器人系统，建立了机械臂坐标系、工件坐标系和作业点坐标系，描述了在焊接作业过程中焊枪相对于作业点坐标系的相对位姿。
From the angle of application engineering, this paper advances a two-arm robot used for welding operation so as to improve the guality of welding, and raises a ocrres-ponding model system 2R-3P2R of a two-arm tobot, establishes the coordinate systems of mechanical arm, working piece and word spot respectively. The positions of welding torch which is relative to work spots in the process of welding operation are also described.
出处
《山东建材学院学报》
1994年第2期59-62,共4页
Journal of Shandong Institute of Building Materials
关键词
机器人
双臂系统
焊接
robot
two-arm system
welding operation
