施釉机器人的运动学分析

Kinematic Analysis for A Glazing Robot

根据卫生陶瓷内外表面喷釉作业对机器人操作空间的要求,本文介绍了一种新型五自由度关节的机器人机构,并对其运动正、逆解进行了分析。针对这类较少自由度关节的机器人存在的派生自由度问题,本文提出了一种将腕关节与臂关节分解求逆的方法。

This paper deals with a new 5-DOF articulate robot used for sanitary ware glazing operation, and the kenimatie equation of the robot is given. An inverse kinematic approach for the 5-DOF robot has been presented by separating the wrist joint from the arm joints.