基于3P3R机器人的工具切换装置研究  

Research on Tool Twitching Device Based on 3P3R Robot

作　　者：宋文浩 吴贵福[1] 李美琪 颜申 王超[1] SONG Wen-hao;WU Gui-fu;LI Mei-qi;YAN Shen;WANG Chao(College of Mechanical Engineering of Jiamusi University,Jiamusi 154007,China;College of Materials Science and Engineering of Jiamusi University,Jiamusi 154007,China)

机构地区：[1]佳木斯大学机械工程学院,黑龙江佳木斯154007 [2]佳木斯大学材料科学与工程学院,黑龙江佳木斯154007

出　　处：《佳木斯大学学报（自然科学版）》2018年第3期395-397,383,共4页Journal of Jiamusi University：Natural Science Edition

基　　金：黑龙江省大学生创新创业训练计划项目(201610222080)

摘　　要：针对目前已有的3P3R机器人,设计符合其使用要求的工具切换装置及其控制系统。在进行机器人末端工具切换前通过误差修正控制程序对3P3R机器人的位置及姿态误差进行校正,以达到提高机器人工具切换精度的目的。通过使用3P3R机器人工具切换装置,使3P3R机器人能够执行多方面、多元化、多种类的工作,提高机器人的使用效率及柔性。This paper introduces the key technology and working principle of the robot tool switching device which can significantly improve the working ability and the efficiency of the tool switching for the robot. A new tool switching device and its control system are designed to meet the requirements of its use for the existing3 P3 R robots. Before the tool switching,the position and posture error of robot is corrected through error correction control program to improve the accuracy of robot. By using the 3 P3 R robot tool switching device,the 3 P3 R robot can perform various,diversified and multi kinds of work to improve the efficiency and flexibility.

关 键 词：工具 机器人 误差修正 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]