摘要
针对类似水轮机叶轮的自由曲面加工难度大、加工工作环境恶劣的问题,结合MOTOMAN-UP6的结构和控制特点,提出了一种基于MOTOMAN-UP6机器人的叶轮自由曲面精整加工应用系统,对整个加工系统及辅助装置布局进行了设计,运用D-H法和符号推导法给出了机械人正、逆运动学模型。仿真结果证明了模型的正确性和有效性。最后结合加工特点提出了一种轨迹规划的方案。
For the finish machining of free-form surface as turbine impeller is difficult and the operational environment is poor, a application system of surface finish machining based on MOTOMAN-UP6 robot was introduced and the characteristics of UP6＇s structure and control were considered. The entire manufacturing system and the layout of auxiliary devices were designed. The forward and inverse kinematics equation was derived based on D-H coordinate transformation method and symbols derived method, and the simulation results verify the correctness and validity of the model. According to the machining characteristic, a trajectory planning program was raised.
出处
《机床与液压》
北大核心
2010年第9期18-20,48,共4页
Machine Tool & Hydraulics
基金
甘肃省自然科学基金暨中青年科技基金项目(3ZS042-B25-018)
关键词
机械手
精整加工
运动学
MATLAB
轨迹规划
Robot manipulator
Finishing processing
Kinematics
MATLAB
Trajectory planning
