| 缸套类产品自动生产线的上下料机械手运动学设计 |
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| 引用本文： | 喻步贤,王程民.缸套类产品自动生产线的上下料机械手运动学设计[J].机电产品开发与创新,2014(2):110-112. |
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| 作者姓名： | 喻步贤 王程民 |
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| 作者单位： | 淮安信息职业技术学院; |
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| 基金项目： | 2010年江苏省教育厅度高校科研成果产业化推进项目(苏教办科[2010]10号) |
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| 摘 要： | 针对缸套类零件生产线的特点,设计了上下料搬运机械手,分析了其工作流程,并进行了机械手的运动学设计.在建立上下料机械手各杆件的D-H坐标的基础上,构建了五自由度机械手的运动学模型,实现了笛卡尔坐标空间到关节空间的运动变换,通过运动学方程求解得到了正向运动学解,确定了机械手雅克比矩阵和关节速度.
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| 关 键 词： | 缸套生产线 机械手 运动学 |
Kinematics Design of Loading and Unloading Manipulator for Liner Products＇ Automatic Production Line |
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| YU Bu-Xian,WANG Cheng-Min.Kinematics Design of Loading and Unloading Manipulator for Liner Products＇ Automatic Production Line[J].Development & Innovation of Machinery & Electrical Products,2014(2):110-112. |
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| Authors: | YU Bu-Xian WANG Cheng-Min |
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| Affiliation: | g (Huaian College of Information Technology, Huaian Jiangsu 223003, China) |
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| Abstract: | According to the characteristics of liner production line, designed a loading and unloading handling robot, analyzed its work processes, and designed the kinematics of the robot. On the basis of the establishment D-H coordinates of loading and unloading Manipulator＇s each rod, constructed the manipulator＇s five degrees of freedom kinematic model, transformed Cartesian coordinate space to the joint space, equations obtained b~~ the forward kinematics kinematic solution to determine the manipulator Jacobian matrix and joint ~,elociW. |
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| Keywords: | liner production line Manipulator kinematics |
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