摘要
为对工件表面焊瘤进行打磨处理,全面检测焊缝的表面缺陷,设计了一种5自由度视觉检测的云台结构,定义了5自由度关节的姿态与运动学的D-H表示形式,建立了5自由度关节的运动学方程;根据5自由度云台的功能尺寸要求,使用D-H表示法创建了云台坐标系和运动方程式,求解出相机的运动方程;利用SolidWorks软件完成5自由度云台的结构设计,并采用ANSYS软件分析了云台结构强度,通过对加工的样机进行试验研究,验证了云台结构设计的合理性。研究可为相关领域提升自动化水平提供参考。
In order to polish weld nodules on the workpiece surface and to comprehensively detect surface defects in welds,a 5-degree-of-freedom vision detection platform structure was designed.The definition of pose and the D-H expression of kinematics of a 5-degree-of-freedom joint are introduced,and the kinematics equation of the joint is established.According to the function and size requirement of the 5-degree-of-freedom pan tilt,the coordinate system and the motion equations of the pan tilt are established by using D-H representation method,and the motion equations of the pan tilt are solved.The structure design of the 5-degree-of-freedom pan tilt is completed based on SolidWorks,the strength analysis of the pan tilt structure is carried out based on ANSYS finite element analysis software.The prototype was manufactured and the rationality of the pan tilt structure design was verified through experimental research.The study can provide reference for improving the level of automation in related fields.
作者
ANNAMYRADOV Atajan
鲁林平
ANNAMYRADOV Atajan;LU Linping(Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control,Tianjin University of Technology,Tianjin 300384,China;National Demonstration Center for Experimental Mechanical and Electrical Engineering Education,Tianjin University of Technology,Tianjin 300384,China)
出处
《天津理工大学学报》
2023年第3期9-15,共7页
Journal of Tianjin University of Technology
基金
国家重点研发计划项目(2017YFB1303304)
天津市智能制造科技重大专项(17ZXZNGX00110)
天津市重点研发计划项目(19YFSLQY00050)
天津科技重大专项与工程项目(19ZXZNGX00100)。
关键词
5自由度
打磨云台
运动学分析
ANSYS分析
5-degrees-of-freedom
polishing pan tilt
kinematics analysis
ANSYS analysis
