摘要
集装箱喷漆机器人采用开式运动链,利用Denavit-Hartenberg方法建立五自由度串联型集装箱喷漆机器人的坐标系,采用解析法对机器人进行了逆运动学分析,然后在ADAMS下进行仿真,得到末端点的位移、速度和加速度曲线,验证了机器人机械结构的合理性,为集装箱喷漆机器人的快速设计与制造提供了理论依据。
An opened- chain frame was adopted for the container spray- painting robot. Coordinate of the serial container spray--painting robot with 5 degrees of freedom was set up based on the Denavit--Hartenberg. With the analytic method, the inverse kinematics analysis of robot was processed. Then, through the simulation of ADAMS, the displacement, velocity and acceleration curves of the end--effector could be obtained. The rationality of robot mechanical structure was validated. It provides theory foundation for the faster design and manufacture of the container spray--painting robot.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2008年第22期2690-2693,共4页
China Mechanical Engineering
基金
武汉市科技攻关项目(200810321123)
