一种并联激光焊接机器人的机构设计与运动学分析  

Mechanism Design and Kinematics Analysis of a Parallel Manipulator for Laser Welding

作　　者：孙元[1] 姜春英[1] 朱思俊[1] 赵明扬[1] 

机构地区：[1]中国科学院沈阳自动化研究所,辽宁沈阳110016

出　　处：《机器人》2009年第6期535-538,共4页Robot

基　　金：国家863计划资助项目(2006AA04Z235)

摘　　要：提出了一种3分支5自由度的并联激光焊接机器人,通过3个分支共同作用,使整机具备了5个自由度的空间加工能力.针对激光焊接,通过分析该机器人的结构特性,建立了其正反解运动学模型,通过解析法求解该模型并进行了计算仿真.最后,对机器人进行激光拼焊实验,仿真数据和实验结果表明,本文研究的并联机器人机构适用于实际的高速、高精度激光焊接.A parallel laser welding robot with three legs and five degrees-of-freedom （DOF） is proposed. The parallel robot has spatial working capacities of five DOFs due to its three legs. The forward and inverse kinematics models of this parallel robot are built for laser welding by analyzing its structure characteristics. Then the analytical method is employed to solve the models and the computer simulation is carded out. Finally, the experiments of laser welding with this parallel robot are implemented. The simulation and experiment results show that the proposed parallel robot is suitable for actual laser welding with high speed and high accuracy.

关 键 词：5自由度 激光焊接 并联机构 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]