摘要
提出一种钣金折弯过程中的机械臂末端抓取点空间轨迹的计算方法,利用钣金折弯过程中中性层长度不变特性,建立折弯过程的数学模型并计算得到抓取点空间位置坐标与钣金折弯参数之间的数学关系,通过Matlab计算得到其位置坐标与工进距离之间的函数图像,并通过Ansys对折弯过程进行仿真,对计算结果进行了对比与分析。验证了数学模型的正确性,为钣金折弯过程机械臂末端路径规划提供了理论依据。
A method for calculating the spatial trajectory of the gripping point at the end of the manipulator during the bending process of sheet metal was proposed.The mathematical relationship between the spatial coordinates of the grab points and the bending parameters of the sheet metal was established.The function image between the position coordinates and the working distance was calculated by Matlab,and the bending process was simulated by Ansys.The calculation results were compared and analized.The verified correctness of the mathematical model provides theoretical basis for the path planning of the end of the robot arm during the sheet metal bending process.
作者
许路佳
范立成
张凤明
XU Lujia;FAN Licheng;ZHANG Fengming(School of Mechanical and Electrical Engineering,Soochow University,Suzhou 215000,China)
出处
《机械制造与自动化》
2021年第3期99-100,117,共3页
Machine Building & Automation
基金
国家重点研发计划“智能机器人”专项(2018YFB1309200)。
关键词
钣金折弯
中性层
空间轨迹
ANSYS仿真
sheet metal bending
neutral layer
space trajectory
Ansys simulation
