等离子去板坯熔渣机器人运动学分析与研究  

Kinematic Analysis of Plasma Cutting Robot for Removing Slag from Billets

作　　者：李龙 朱宝林 陈双 LI Long;ZHU Baolin;CHEN Shuang(Wuhu HIT Robot Technology Research Institute Co.,Ltd.,Wuhu,Anhui 241000,China)

机构地区：[1]芜湖哈特机器人产业技术研究院有限公司,安徽芜湖241000

出　　处：《机电工程技术》2020年第7期132-134,共3页Mechanical & Electrical Engineering Technology

摘　　要：提出了一种工业机器人搭载等离子切割装备去除板坯毛刺的新方法,成功地解决了现有去毛刺设备的不足。该方法以五自由度切割机器人为研究对象,对其进行运动学分析,根据各关节的结构位姿特性建立相应的关节坐标系后,计算其末端坐标系相对基准坐标的的齐次变换方程,并精简对逆运动学方程的求解。利用Robotics Toolbox仿真后,结果表明该方法能够为机器人的优化设计及轨迹规划提供运动学依据。A new method of removing burr from industrial robot by plasma cutting equipment was proposed,which successfully solves the shortcomings of the existing burr removing equipment.The 5-DOF cutting robot was taken as the research object,its kinematics were analyzed,establishes the corresponding joint coordinate system according to the structural pose characteristics of each joint,calculates the homogeneous transformation equation of the end coordinate system relative to the reference coordinate,and simplifies the solution of the inverse kinematics.The simulation results of robotics toolbox show that the method can provide a good kinematic basis for the optimal design and trajectory planning of the robot.

关 键 词：五自由度机器人 等离子切割 运动学 Robotics Toolbox 

分 类 号：TH113.22[机械工程—机械设计及理论]