摘要
针对某发动机进气管道长且截面复杂等特点 ,设计一喷漆机器人对其喷底漆 ,面漆和中涂漆。文章首先通过灵活度分析确定出操作手的尺寸 ,进而通过动力学分析给出各关节驱动电机输出扭矩 ,并据此设计出该机器人各参数。采用双CPU的PC +PMAC结构 ,以Windows为软件平台建造出样机的开放式实时数控系统 ,主要研究了喷漆机器人的总体方案布局 。
Aimed at some characteristics of one gas conduit of generator, design one robot to spray painting, give the dimension in terms of the analysis of global dexterity, and the output torque of joint by the analysis of dynamics first. This paper also deals with the technique that the open architecture technique is used in the NC system development with PC+PMAC and Windows as the hardware and software platforms. The contents include the whole scheme layout, hardware construct and interpolation strategy.
出处
《组合机床与自动化加工技术》
北大核心
2004年第10期62-64,共3页
Modular Machine Tool & Automatic Manufacturing Technique
关键词
喷漆机器人
尺寸优化
NC系统
Painting robot
Optimized dimension design
NC system
