摘要
针对微装配机器人在装配任务中末端执行器对装配姿态的要求,将姿态调整结构安装在三自由度微动平台机械手的末端,使原有的机械手在空间三自由度定位的基础上,实现俯仰,摇摆,旋转三自由度的姿态调整。工作区任意位置定位后,在不改变位置的基础上,可调整任意姿态。
In order to satisfy the demand of the assembly attitude of the end executor of the micro-assembly robot in the actual assembly task, attitude adjustment equipment is added to the former three-dimension manipulator to realize additional three-dimension attitude adjustment including pitch, roll and yaw. The six-dimension attitude adjustment could be implemented without changing the initial position once it has been determined.
出处
《兵工自动化》
2007年第1期56-57,60,共3页
Ordnance Industry Automation
基金
国家863计划804主题资助项目(2004AA844120)
关键词
姿态调整
微装配机器人
末端执行器
Attitude adjustment
Micro-assembly robot
End executor
