摘要
本机器人仿真系统是为焊接ＩＶＥＣＯ汽车横梁而研制的，本文在对ＲＶ１２Ｌ６Ｒ焊接机器人结构分析的基础上，建立了运动学模型，并给出了运动学正解、逆解．从图形学的角度，对机器人工作空间实施三维图形仿真，并用三维造型技术集机械手、转位工作台、工件三位一体，来表示机械手复杂的位置、姿态信息．解决了目前国内外学者对机器人运动学仿真系统的研究主要集中在运动学算法［１～５］及简单的二维图形仿真研究上［８～１５］的问题，这里提供了一套通用的方法，同时为转位工作台的设计安装提供了依据．最后在运动学解的结果基础上，给出了横梁焊接示例程序；本系统已成功的应用于ＩＶＥＣＯ横梁焊接．
This robot simulation system is developed for the beam welding in IVECO car.The kinematic model of RV12l 6R robot is built.The forward and inverse solutions are also given.The 3D graphic simulation of the robot workspace is made. The complex informations of the robot hand positions and poses are expressed by integration of robot hand 、rotate platform and workpiece using 3D modeling technique while the researchs of robot simunation system of many scholars are mainly concentrated on the algorithnm and 2D graphic simulation.It also provides a way for the design of rotate platform.The programming example of crossbeam welding is made.The system has been successfully used in the crossbeam welding on IVECO car.
出处
《机器人》
EI
CSCD
北大核心
1998年第5期333-341,共9页
Robot
基金
中国汽车工业总公司及跃进汽车集团公司联合资助
