折弯辅助机器人的设计及动力学仿真  

Design and Dynamic Simulation of A Bending Auxiliary Robot

作　　者：胡金龙[1] 周鹏飞[1] 潘志华[1] 洪超[1] HU Jin-long;ZHOU Peng-fei;PAN Zhi-hua;HONG Chao(Jiangsu,Yangli CNC Machine Tool Co.,Ltd.,Yangzhou 225127,China)

机构地区：[1]江苏扬力数控机床有限公司,江苏扬州225127

出　　处：《机械工程与自动化》2019年第3期124-125,128,共3页Mechanical Engineering & Automation

摘　　要：从自动化折弯工艺出发,设计了B20型六轴直角坐标折弯机器人整机结构,并在多体动力学分析软件中对系统进行建模,完成了运动学仿真,获得了Y、Z、A轴的速度、加速度曲线,为具体的结构设计和运动控制提供依据。In order to meet the demand for the bending auxiliary robot in the market,the structure of the B20 six-axis Cartesian coordinate bending robot is designed according to the automatic bending process.The kinematics and dynamic characteristics of the system are simulated in a multi-body dynamic analysis software,the speed curves and the acceleration curves of the Y,Z and A axes are obtained.It provides a reference for detail structural design and motion control.

关 键 词：折弯辅助机器人 结构设计 运动学仿真 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]