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设计了一种工业机器人的结构,这种机器人主要特点是:肩关节和肘关节的运动通过平行四边形机构引出,利用滚珠丝杠传递运动,提高了精度并且具有较大的结构刚度,也有利于提高机器人的动力学性能。同时保留了串联机器人具有较大的工作空间的特点。针对这种机器人进行了运动学分析,并提出了一种工作空间求解改进的描点法,随后又提出一种工作空间求解的边界分析法。结果显示,工作空间的边界分析法求解方法运算量小,求得的结果清晰明了;然后对所求解的工作空间体积进行了计算,并计算了机器人工作空间性能指标,分析证明了这种机器人具有良好的工作空间性能。
The structure of an industrial robot is designed. The main features of this robot are: the movement of the shoulder joint and the elbow joint is led out by the parallelogram mechanism, the movement is improved by the ball screw, the precision is improved and the structural rigidity is also good Improve the robot’s dynamic performance. While keeping the serial robot has a larger working space characteristics. A kinematics analysis of the robot was made and an improved method of scanning points was proposed to solve the problem of working space. Then a boundary analysis method of working space was proposed. The results show that the computational complexity of the method of boundary analysis for work space is small and the result obtained is clear and clear. Then, the workspace size is calculated and the performance index of the robot workspace is calculated. The analysis shows that the robot has Good work space performance.