基于八轴六联动控制复合机器人的技术集成及应用研究

Research on Technology Integration and Application of Hybrid Robot Based on Eight-axis and Six-linkage Control

研究桁架加关节复合机器人结构的大范围轨迹位置和姿态控制的技术集成与应用。基于桁架(X、Y、Z)和关节(A、B、C)的六轴六联动技术与性能特点,增加了X轴直线双驱从动轴U轴和摆臂V轴,将控制算法集成关节机器人与龙门桁架结构,达到八轴六联动控制。在建立三关节与三直线组合数控模型下,可实现大范围任意姿态位置工作,满足了焊接、注胶、喷涂、雕刻等多个行业的大规格零件加工应用。

The technology integration and application of large-scale trajectory position and attitude control of truss-joint composite robot were studied.Based on the six-axis six-linkage technology and performance characteristics of the truss(X,Y,Z)and the joint(A,B,C),the X-axis linear double-drive driven shaft U axis and the swinging arm V axis were added,and the control algorithm was integrated into the joint robot and the gantry truss structure,achieve eight axis six linkage control.In the establishment of three-joint and three-line combination numerical control model,a large range of arbitrary attitude position work could be achieved to meet the welding,glue injection,spraying,sculpture and other industries of large-scale parts processing applications.The result of the project has been applied in large-scale curtain wall unit automatic glue injection and entered the market in batches.