摘要
为提高连杆加工中流水线上连杆体与衬套的装配工序的效率,使用工业机器人进行装配作业;根据控制轨迹建立数学模型,设计控制算法,对数学模型进行求解。采用普通数控系统作为工业机器人控制系统。通过实验:装配机械手控制稳定、轨迹灵活、生产效率提高。
In order to improve the efficiency of the connecting rod and bushing assembly in the line production, the industrial robot was used in trajectory control. According to the established mathematical model, the control algorithm was designed, The ordinary numerical control system was used as the control system of industrial robot. Through experiment： the assembly manipulator could control trajectory stably and flexibly, which improves the production efficiency.
出处
《中国农机化学报》
2015年第3期279-281,285,共4页
Journal of Chinese Agricultural Mechanization
