摘要
在加工形状复杂、切削力小、尺寸大的非金属工件时,可以采用工作空间大的串联机器人代替专用的数控加工系统进行铣削加工。针对特定工件的加工设计五自由度铣削机器人,用D-H方法对该机器人进行了正、逆运动学分析,根据工件加工特点对机器人末端操作器位置进行轨迹规划,最后利用MATLAB软件的Robotics Toolbox工具进行了仿真。
When manufacturing big size nonmetal part with little cutting force and complex shape, use serial robots which have big working space instead of special numerical control machine tool. According to the peculiar workpiece, designed a 5-dof cutting robot, calculated the kinematics, and designed the end-operator＇s trajectory, finally built a robot model by ＇ MATLAB Robotics Tool- box＇ and finished the simulation of the end-operator. It researched the using of serial robot in the cutting area; it also has some theoretical significance and practical value.
出处
《现代制造工程》
CSCD
2008年第3期111-114,共4页
Modern Manufacturing Engineering
基金
北京交通大学基金项目(MJ6005)
