摘要
针对当前轧钢行业面临的轧机牌坊与轧辊轴承座接触面易磨损且在线修复困难的实际问题,提出了一种二平面自由度并联铣削机器人。介绍了该并联机器人的整体结构,并通过建立运动学模型对其执行器位置进行了分析,利用MATLAB数学工具编程对机器人工作空间进行了求解,确定了并联结构的合理性与实用性。运用Solid Works软件对机器人结构进行了三维建模,并应用ADAMS软件对模型关键转向过程进行了运动学仿真,得到了相关参数,确保该方案的可行性与准确性,为机器人驱动手臂伺服系统的合理选型及机构优化提供了参考依据。
The contact surfaces between mill housing and chock is easily worm down, and it is difficult to repair the worn surface on line. In this paper, a two-DOF parallel planar milling robot is proposed, and the overall structure of the parallel robot is described. By setting up the kinematics model, the actuator position is analyzed. Using MATLAB programming mathematical tools solves its work space, and verifies the rationality and practicability of the parallel structure. By using SolidWorks software, the 3D model of robot is established, and key turning process of the model is simulated by ADAMS software, and the relevant parameters are ob This work may provide a reference for structure optimization of robot
出处
《机械工程与自动化》
2017年第3期64-66,共3页
Mechanical Engineering & Automation
关键词
轧机牌坊
并联铣削机器人
运动学
位置分析
mill housing
parallel milling robot
kinematics
position analysis
