摘要
从自动化折弯工艺出发,设计了B20型六轴直角坐标折弯机器人整机结构,并在多体动力学分析软件中对系统进行建模,完成了运动学仿真,获得了Y、Z、A轴的速度、加速度曲线,为具体的结构设计和运动控制提供依据。
In order to meet the demand for the bending auxiliary robot in the market,the structure of the B20 six-axis Cartesian coordinate bending robot is designed according to the automatic bending process.The kinematics and dynamic characteristics of the system are simulated in a multi-body dynamic analysis software,the speed curves and the acceleration curves of the Y,Z and A axes are obtained.It provides a reference for detail structural design and motion control.
作者
胡金龙
周鹏飞
潘志华
洪超
HU Jin-long;ZHOU Peng-fei;PAN Zhi-hua;HONG Chao(Jiangsu,Yangli CNC Machine Tool Co.,Ltd.,Yangzhou 225127,China)
出处
《机械工程与自动化》
2019年第3期124-125,128,共3页
Mechanical Engineering & Automation
关键词
折弯辅助机器人
结构设计
运动学仿真
bending auxiliary robot
structural design
dynamic simulation