| 一种并联激光焊接机器人的机构设计与运动学分析 | |
| Alternative Title | Mechanism 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
 |
| ISSN | 1002-0446 |
| 2009 | |
| Volume | 31Issue:6Pages:535-538 |
| Indexed By | EI ; CSCD |
| EI Accession number | 20095012535417 |
| CSCD ID | CSCD:3715859 |
| Contribution Rank | 1 |
| Funding Organization | 国家863计划资助项目(2006AA04Z235) |
| Keyword | 5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 Abstract | A 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 |
| Identifier | http://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. |
| Files in This Item: | ||||||
| File Name/Size | DocType | Version | Access | License | ||
| ZWQKQW0000504.pdf（639KB） | 开放获取 | CC BY-NC-SA | View Application Full Text | |||
Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.
Edit Comment