摘要
机器人打磨因改善工人作业环境且打磨质量高受到越来越多的关注,这对机器人的运动路径规划提出了较高的要求。正确认识和灵活运用坐标系能极大地方便编程和调试工作。以实际工程项目为例,介绍了机器人的坐标系统,针对性地分析了机器人打磨工艺流程,详细说明了各坐标系在不同铸件打磨阶段中的应用,实现了高效轨迹编程与刀具的磨损补偿。
For improving the working environment and polishing quality,the robotic polishing has received more and more attention,which puts forward higher requirement for the motion path planning. Correct understanding and flexible using of coordinate system can bring great convenience to the programming and debugging. Based on a practical engineering project,the robotic coordinate system was described and the polishing process of robot was analyzed specifically,and the application of each coordinate system in different grinding phases was explained in detailed,which implemented the efficiency of trajectory programming and compensation of tool wear.
作者
罗豪
周奇
吴超群
刘辉
LUO Hao;ZHOU Qi;WU Chaoqun;LIU Hui(School of Mechanical and Electronic Engineering,Wuhan University of Technology,Wuhan Hubei 430070,China;J.S.Corrugating Machinery Co.,Ltd.,Jingmen Hubei 431899,China)
出处
《机床与液压》
北大核心
2018年第15期80-83,共4页
Machine Tool & Hydraulics
