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一种并联激光焊接机器人的机构设计与运动学分析
Alternative TitleMechanism Design and Kinematics Analysis of a Parallel Manipulator for Laser Welding
孙元; 姜春英; 朱思俊; 赵明扬
Department现代装备研究室
Source Publication机器人
ISSN1002-0446
2009
Volume31Issue:6Pages:535-538
Indexed ByEI ; CSCD
EI Accession number20095012535417
CSCD IDCSCD:3715859
Contribution Rank1
Funding Organization国家863计划资助项目(2006AA04Z235)
Keyword5自由度 激光焊接 并联机构
Abstract提出了一种3分支5自由度的并联激光焊接机器人,通过3个分支共同作用,使整机具备了5个自由度的空间加工能力.针对激光焊接,通过分析该机器人的结构特性,建立了其正反解运动学模型,通过解析法求解该模型并进行了计算仿真.最后,对机器人进行激光拼焊实验,仿真数据和实验结果表明,本文研究的并联机器人机构适用于实际的高速、高精度激光焊接。
Other AbstractA parallel laser welding robot with three legs and five degrees-of-freedom(DOF) is proposed. The parallel robot has spatial working capacities of five DOFs due to its three legs. The forward and inverse kinematics models of this parallel robot are built for laser welding by analyzing its structure characteristics. Then the analytical method is employed to solve the models and the computer simulation is carried out. Finally,the experiments of laser welding with this parallel robot are implemented. The simula...
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/6298
Collection智能产线与系统研究室
Corresponding Author孙元
Affiliation中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
孙元,姜春英,朱思俊,等. 一种并联激光焊接机器人的机构设计与运动学分析[J]. 机器人,2009,31(6):535-538.
APA 孙元,姜春英,朱思俊,&赵明扬.(2009).一种并联激光焊接机器人的机构设计与运动学分析.机器人,31(6),535-538.
MLA 孙元,et al."一种并联激光焊接机器人的机构设计与运动学分析".机器人 31.6(2009):535-538.
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