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作 者:许家忠[1] 孙栋[1] 杨海[2] 刘美军 XU Jia-zhong;SUN Dong;YANG Hai;LIU Mei-jun(School of Automation,Harbin University of Science and Technology,Harbin 150080,China;School of Mechanical and Power Engineering,Harbin University of Science and Technology,Harbin 150080,China)
机构地区:[1]哈尔滨理工大学自动化学院,黑龙江哈尔滨150080 [2]哈尔滨理工大学机械动力工程学院,黑龙江哈尔滨150080
出 处:《哈尔滨理工大学学报》2018年第5期92-99,共8页Journal of Harbin University of Science and Technology
基 金:黑龙江省自然科学基金(E201301);哈尔滨市优秀学科带头人项目(2015RAXXJ013)
摘 要:研究了缠绕轨迹网格后处理算法以及机器人运动控制理论,建立基于Matlab和ADAMS的机器人缠绕离线编程及仿真平台。此平台具有针对等距离、等高面、等悬纱长度三种不同出纱方式进行机器人缠绕轨迹CAD设计,并自动生成机器人缠绕执行指令文件的功能;同时借助此平台能实现对缠绕过程的动画仿真与运动曲线分析,达到优化缠绕轨迹的目的。进行了弯管缠绕的仿真实验与物理实验,实验结果表明:此平台可靠实用,缠绕轨迹后处理方便准确,仿真效果理想,能有效的缩短机器人缠绕轨迹开发周期,减少物理实验的次数,降低研发成本。In this paper,we make a research on mesh post disposal of composite winding and robot motion control theory and establish an off-line wind programming and simulation platform of an industrial robot based on Matlab and ADAMS.It can do CAD of winding path according to equal distance,equal height and equal fiber length three different envelop forms,and generate the executable file on the robot automatically.At the same time,it can optimize the winding path by doing animation simulation and motion analysis of the winding process.Simulation and physical experiments of winding one bent pipe have been done.It shows that the platform is reliable and practical,winding path design is convenient and accurate and the simulation effect is ideal.Simulated experiment can effectively shorten robot winding path development,cut down the times of physical experiments and save the development costs.
关 键 词:机器人缠绕 离线编程 计算机仿真 网格后置处理算法
分 类 号:TP391.9[自动化与计算机技术—计算机应用技术]
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