摘要
针对矿井喷浆机器人设计、制造的要求，对机器人大臂端点位置进行了运动分析；采用了物理意义明显的 Ｔ Ｒ变换法建立了构件运动方程，编制了动画仿真软件；以三视图的形式进行了动态显示，较真实地再现了机器人的作业过程，确定了机器人工作空间的达限范围。
Being directed against the demand of the mine guniting robot's design and manufacture,do the active analysis to the situation of robot's arms end. The homogeneous transfotmation T R method which has the clear physical meaning is used to form the component parts motion equation,weave the animation emulation system and by mehing use of three views to active demonstrate it. The robot's operation process is rather real. By establishing the extension Limits of the robot's process space,an useful path is provided to the gunition machine's design.
基金
山东省自然科学基金
