摘要
在对自由曲面超声检测机器人进行结构分析的基础上,采用Denavit-Hartenberg方法建立了连杆坐标系下的机器人运动学模型,对其进行了运动学正向、逆向分析求解,并通过实验数据证明了该求解方法的正确性。事实证明,通过对该检测机器人进行的运动学分析,可为计算机控制检测探头进行曲面检测提供准确的控制参数,为实现自由曲面连续的仿形超声检测提供可靠的方法和理论依据。
Based structural analysis on the free surface ultrasonic measuring and checking robot, the kinematics model under link-pole coordinate system with the method of Denavit-Hartenberg was established. At the same time, the kinematics positive and reverse solution analysis to it was carried out. And then the control parameter for measuring and checking the surface by computer control detecting-head was offered. The establishing and solving of kinematics model, proved by experiment, providing credibility method and theories bases for realizing continue ultrasonic profile measuring and checking free surface modeling.
出处
《机电工程》
CAS
2001年第5期71-74,共4页
Journal of Mechanical & Electrical Engineering
关键词
超声检测
机器人
运动学方程
自由曲面
ultrasonic measuring and checking
robot
kinematics function
free surface
