摘要
针对新型直通式手腕,用D-H方法得到了正逆运动学方程;结合MATLAB和ADAMS仿真,验证运动方程的正确性。在手腕和旋杯之间用绝缘支架联接,使得机器人在侧喷和顶喷时具有一定方向性,从而减小手腕弯转角度,降低手腕内部管路的磨损。通过分析绝缘支架倾角与俯仰角度的关系得出:当支架倾角为60°时,手腕的俯仰角最大达到200°,能够实现机器人的背向喷涂。
The positive and inverse kinematics of a new straight-through wrist was analyzed.The workspace was analyzed for the wrist,and the kinematics simulation was completed with ADAMS software.The wrist and the cup were connected with the insulation bracket,so that in the side spray and top spray,the robot had a certain direction to reduce the wrist bending angle,and reduce the wear of the internal pipeline of the wrist.Through the analysis of the relationship between the angle and the tilt angle of the insulation bracket,it is concluded that when the angle of the bracket is 60°,the pitch angle of the wrist is up to 200°,so backward spraying can be realized.
作者
韩景茹
赵臣
王旭浩
李秋生
HAN Jingru;ZHAO Chen;WANG Xuhao;LI Qiusheng(Academy of Mechanical and Equipment Engineering,Hebei University of Engineering,Handan Hebei 056038,China;College of Mechanical Engineering,Tianjin University,Tianjin 300072,China)
出处
《机床与液压》
北大核心
2018年第23期43-46,共4页
Machine Tool & Hydraulics
基金
天津市科技重大专项(15ZXZNGX00200)
关键词
直通式非球型手腕
逆运动学
绝缘支架
Straight-through wrist
Inverse kinematics
Insulation bracket
