摘要
本文在考虑构件形状和尺寸的条件下,提出了判断双臂机械手干涉的计算机辅助分析方法.扼要地介绍了构件的简化模型、判断干涉的准则及程序框图.介绍了甲作者建立的双臂机械手干涉分析的通用软件 IADAR 的概况及其程序设计,并给出数字实例说明其应用.应用 IADAR 软件包可以方便地对双臂机械手进行干涉分析,并可判断出干涉的构件及其所处位置。
In the paper a computer aided analysis method used to judge the link interference of dual-arm robots is presented under the condition that the shape and the dimensions of links are eonsideren.Simplified models of the links, criterias to determine interference and flow charts are also explained briefly, Specifications and design of a software package IADAR,which is developed by the authors and can be applied to interference analysis of dual-arm robots,are given.A numerical example is provided for illustration.Thus, interference analysis of dual-arm robots can be made easy and by using the software parkage IADAR,numbers and locations of the link interference can be determined.
基金
国家自然科学基金
关键词
双襞
机械手
干涉分析
计算机
Interference Analysis
Dual-Arm Bobot
Software Package
