摘要
为了更好地完成大型储罐表面的喷涂作业,研究了一种可实现Z字形轨迹的自动化高效喷涂设备,该设备以爬壁机器人为载体,具有六个自由度,可以满足不同的喷涂工艺要求。针对大型储罐的爬壁喷涂机构,利用D-H坐标系法建立了机器人正向运动学方程,并通过CAD作图仿真验证了运动学方程的正确性。利用Whitney提出的矢量积法直接构造出爬壁喷涂机构的雅克比矩阵,确定了末端执行器(喷枪)在任意时刻的位置、姿态及速度,为喷涂机构的智能控制提供了重要依据。
To obtain good wall spraying result on large tank, a 6 DOF automation equipment that can realize Z shape trajectory is studied, which can be installed on wall climbing robot and can satisfy different spraying process requirements. The robot forward kinematics model is set up through D-H method, verified by CAD simulation. Finally, the Jacabian matrix of the spraying mechanism is constructed based on the vector product method that was putted forward by Whitney. Thus, the positions, posture and velocity of the end actuators are available at any time. It offers important models for intellective control of the wall-climbing spraying mechanism.
出处
《机械设计与制造》
北大核心
2014年第6期210-212,216,共4页
Machinery Design & Manufacture
基金
国家科技支撑计划项目(2012BAH28F03)
关键词
喷涂机构
运动学分析
雅克比
爬壁机器人
Spraying Mechanism
Kinematics Analysis
Jacobian
Wail-Climbing Robot
