基于印刷机轴孔装配的六自由度并联机构反解算法研究  

Study of Six-degree-of-freedom Parallel Mechanism Inverse Solution Algorithm Based on Press Shaft Hole Assembly

作　　者：汪海飞 曹少中 赵伟 杨青鑫 WANG Haifei;CAO Shaozhong;ZHAO Wei;YANG Qingxin(School of Information Engineering,Beijing Institute of Graphic Communication,Beijing 102600,China)

机构地区：[1]北京印刷学院信息工程学院,北京102600

出　　处：《北京印刷学院学报》2023年第6期33-36,共4页Journal of Beijing Institute of Graphic Communication

基　　金：北京市自然基金—基于机器视觉的印刷辊筒表面缺陷智能识别系统研究(KZ202010015021);北京市教育委员会科研计划项目—印刷机套筒装配机器人关键技术研究(KM201910015003);专业学位研究生联合培养基地建设-电子信息(21090223001)。

摘　　要：印刷机套筒轴孔装配过程中由于套筒质量大、所需要的配合精度高、人工安装效率低且对工人身体会有一定的伤害。六自由度并联机构具有负载能力强和运动精度高等优点,因此使用六自由度并联机构作为装配过程的操作平台,六自由度并联机构的反解算法能让装配过程得到更好的控制,精度达到更高的要求。印刷机套筒装配机器人以六自由度并联机构为基础,以研华工控机为控制系统的平台,对六自由度并联机构进行反解算法的研究,为后续智能装配做好研究基础。The assembly process of printing machine sleeve shaft hole is a large mass of sleeve,the required fit accuracy is high,the manual installation efficiency is low and it can be harmful to the workers􀆳body.The six-degree-of-freedom parallel mechanism has the advantages of high loading capacity and high accuracy,so the six-degree-of-freedom parallel mechanism is used as the operation platform for the assembly process.The inverse solution algorithm of the six-degree-of-freedom parallel mechanism can make the assembly process better control and achieve higher accuracy.The inverse solution algorithm of the six-degree-of-freedom parallel mechanism is used as the platform for the control system of Advantech IPC,and the inverse solution algorithm of the six-degree-of-freedom parallel mechanism is studied for the subsequent intelligent assembly.

关 键 词：六自由度并联机构 工控机 运动控制卡 反解 

分 类 号：TH165[机械工程—机械制造及自动化]