基于复杂曲面磨削用机器人的机械臂结构设计  

Designing mechanical arm structure of robot for complex surface grinding

作　　者：陈金金[1] 李丽荣[1] 张长[1] 汪家斌[1] 

机构地区：[1]青海大学机械工程学院,青海西宁810016

出　　处：《青海大学学报（自然科学版）》2012年第2期22-25,45,共5页Journal of Qinghai University(Natural Science)

摘　　要：针对曲面焊缝磨削加工工艺对机械臂要求,设计了一种多关节型磨削机械臂。确定了机械臂的关节构成及其实现形式,设计了磨削机械臂的机械结构,确定了结构尺寸。对机械臂主要受力关节进行了分析,并利用三维软件对机械臂进行了仿真,仿真结果表明机械臂结构合理,能满足复杂曲面磨削焊缝工作的要求。On the basis of requirements of grinding process for welding curved surface,one kind of robotic arm of multi-joint used for grinding was designed.The components and their realization of the manipulator's joints were worked out.The mechanical structure and size of the grinding manipulator were designed.The main stress joints of mechanical arm were also analyzed,and emulation of the mechanical arm by 3D software was carried out.The results showed the structure of manipulator is reasonable,and able to meet the requirements of the complex surface grinding welds.

关 键 词：复杂曲面 机械臂 结构设计 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]