机械手的组成机构及其技术指标的确定

刘明保,吕春红,张春梅(河南机电高等专科学校机电系,河南新乡453002):本文论述了工业机器人和机械手的机构组成,并讨论了工业机器人和机械手的工作空间看管区域位置函数运动速度等技术指标的确定方法,为机器人和机械手的机构设计及创新提供了理论基础.:机器人;机械手;机构;技术指标:TP24:A:10082093(2004)01001803.,,,.1.,,.,.1.,,.,,,,..1a,1b,,.2.:0,1,234!,!5!6.2,..:.,.,.,..2,:;;;.2.1..,3a,r1123.18121200401JournalofHenanMechanicalandElectricalEngineeringCollegeVol.12∀.1Jan.2004:20031015:(1946),,,,,:..3,.,.,.3a1.,,:W=6n-#5i=1(6-i)=6∃2-5∃1-3∃2=1,,12,CEE.12AC,ABCB.AB,3b,W=1,,BC,.,12CEE.,.2.2.3,r1=AD%r1=AD%%.,(3a);3b,r1=AD%r=B%D%();3c,.4a..abc():2Y,3X1Z.,4b,,r2-r132;h21.,(4b).2.34,,.553.DlBCLCD.,,.:ACB.:1014;Z2121;3232.19::W=6n-[#5i=1(6-i)pi-q]=6∃3-5∃3=3O1X(1)r(1)Z(1)Z(1)1;O2X(2)r(2)Z(2)12;O3X(3)r(3)Z(3)x(3)3.Z0&Z(1)&Z(2),x0&x(1)&x(2).,(0)D=(0)D(!10&Z21&!32):(0)D=T10&T21&T32(0)D∋∋(1)(0)D=x(0)Dr(0)DZ(0)D1(3)D=0LCD01T10=cos∀10-sin∀1000sin∀10-cos∀100000100001T21=10000100001Z210001T32=10000cos∀32-sin∀32lBC0sin∀32cos∀3200001T10,T21,T32(0001)(0)D11(1;,..(1):x(0)Dr(0)DZ(0)D1=-LBCsin∀10-lCDsin∀10cos∀32LBCcos∀10+lCDcos∀10cos∀32Z21+lCDsin∀321,Dox(0)r(0)Z(0):x(0)D=-LBCsin∀10-lCDsin∀10cos∀32r(0)D=LBCcos∀10+lCDcos∀10cos∀32Z(0)D=Z21+lCDsin∀32(2)D,(2)LBCLCD∀10Z21∀32.2.4,.,.,3,∀10(t),Z21(t)∀32(t),D,(2):vDX=[X(0)D]=-#1cos∀10(lBC+lCDcos∀32)+#32LCDsin∀10sin∀32vDY=[r(0)D]=-#1sin∀10(lBC+lCDcos∀32)-#32LCDcos∀10sin∀32vDZ=[Z(0)D]=v21+#32lcdcos∀(3)D:vD=V2DX+V2DY+V2DZcos=vDYVDcos∃=vDXVDcos%=vDZVD(4)∃%.(3)(4)D.2.5,&..&max4∋r2r2=4∋.&(=/(∋4).(1.(.;(1,..,(.3a,E&,ACDB;DE,6a.6CD(),r,CD,ADOxyzX.(=1,=4∋.,CD,DC=L3.,,CD,.,,1,3,(下转第23页)202003483,,,.(王慧):[1]:[J],1996(5).[2],:[M],,1993.[3].Pre/ENGINEER2000i[M],,2000.[4].Pro/engineer[M],,2002.[5],.[J],,2003(1).[6],,,.[J],,2000(6).[7].[J],,2000(7).Three-dimensionsolidmodelingofendmillingcutterLIHongde,etal(Xi)anJiaotongUniversity,Xi)an710049,China)Abstract:Thefigureofendmillingcutteriscomplex,anditisdifficulttobuildathree-dimensionsolidmodeling.Thekeytechnologiestodenotethegeometricalparametersofendmillingcutterbycomputerareintroduced.UsingtheartificesofcharacteristicandblendinPRO/E,theaccurate3Dmodelingofendmillingcutterisachieved.Keywords:endmillingcutter;3Dmodeling;PRO/E(上接第20页)L1+L3r+l2rmax=r1=l1-l2+l3AD=r,3,r+L3l1+l2,:rmax=r2=l1+l2-l3,r1r2,(6b∗)(=1.3,(1.123AX,(=0.r=r0=l1-l2-l3r=r3=l1+l2+l3.,8b+,,(1.6b+,,D%,(.AD%BC%,C%D%∀m,R=L3∀=∀m(6c).ds=2∋Rsin∀.Rd∀∀=0∀=∀m,S:s=−∀m02∋R2sin∀d∀=2∋R2(1-cos∀m),R=L3S=2∋L23(1-cos∀m)(=4∋=s/l234∋=1-cos∀m26a,r=AD%cos∀m.0.24(=0.386a,(=((r)6b,.,.,,;,;,.(王慧):[1],.[M].:,1999.[2],.[M].:,1997.[3],.[]K.B.[M].:,1997.ThecompositionanddecisiontothetechnicalindexofthemanipulatorLIUMingbao,etal(HenanMechanicalandElectricalEngineeringCollege,Xinxiang453002,China)Abstract:Thispaperdiscussedorganizationoftheindustrialautomatonandmanipulator)sconstitutions,methodsofdecidingthetechnicalindexaswellasthework)sspace,districtincharge,andspeedofmotion,etc.Itofferstheoryfoundationfororganizations)designingandcreatingoftheindustrialautomatonandmanipulator.Keywords:automaton;manipulator;organ;technicalindex23:3D