摘要
提出适合于焊接工作的6-PTS并联机械手,针对该并联机械手的性能、运动学、工作空间等问题进行了较为深入和系统的分析。基于Matlab软件对该机械手进行速度、加速度正逆解运动学分析与仿真,确定运动平台的工作空间并进行仿真。根据仿真结果分析机械手各个关节的运动状态,得到所需的理论数据,并分析该机构主要参数对工作空间的影响。最后进行了腊模加工方式模拟焊枪运动实验。实验结果表明:该机械手运动平台灵活空间较大,可以满足焊接需求。
6-PTS parallel manipulator was put forward,which was suitable for the welding work.The robot performance,kinematics,workspace in-depth and system ware analyzed.The manipulator kinematics of forward and inverse solution on velocity and acceleration were analyzed and simulated based on Matlab software,and the workspace of the moving platform was determined and simulated.The each joint motion of manipulator were analyzed according to the simulation results,and the theory data were obtained.The workspace influence was analyzed on the main parameters.Finally the experiment of wax mold processing mode was presented to simulate the welding torch movement.The tests results show that the flexible workspace of the manipulator platform are big which can meet the requirements of welding.
出处
《机械设计与制造》
北大核心
2013年第6期155-157,共3页
Machinery Design & Manufacture
基金
国家"八六三"高技术项目(2007AA04Z255
2012AA041402)
北京市属高等学校人才强教深化计划资助项目(PHR201008355
PHR200907221)
北京市教委科技发展计划资助项目(KM200710017005)
关键词
并联机械手
运动学
工作空间
Parallel Manipulator
Kinematics
Workspace
