摘要
为了满足机械加工作业智能化的需要,设计了一款六自由度四履带双摇臂机械加工机器人。介绍了其移动平台机械结构设计,该移动平台能够满足移动、转弯与越障等功能并承载刀具中心换刀机构;介绍了其机械臂的模块化设计,该机械臂可以实现钻、铣、镗等机械加工作业。对机械臂正逆运动学进行分析,并使用Matlab软件中的Robotics Toolbox功能进行仿真;对机械臂采用拉格朗日方程计算方法进行动力学计算,使用SolidWorks Motion功能对机械臂进行动力学仿真。分析结果表明,所设计的机器人能够满足使用要求。
In order to meet the needs of intelligent machining operation,a six degree of freedom with four crawler double rocker robot is designed( abbreviation as machining-op robot).The mechanical structure design of the mobile platform was introduced.The platform has functionality of moving,turning and crossing the barrier, as well as the tool-changing mechanism equipped with a tool center. The modular design of the mechanical arm was introduced, which can fulfill machining tasks of drilling,milling and boring. The forward and inverse kinematics of the mechanical arms were also analyzed and the robotics toolbox function in Matlab was used for simulation. The dynamics calculation towards mechanical arms was carried out with the Lagrange equation calculation method,and the SolidWorks Motion function was used for simulation.The analysis results have shown that the designed robot can meet the requirements.
作者
齐志新
石昀杭
岳彩月
徐强
QI Zhixin;SHI Yunhang;YUE Caiyue;XU Qiang(CRRC Changchun Railway Vehicles Co.,Ltd.,130062,Changchun,China)
出处
《城市轨道交通研究》
北大核心
2020年第2期55-61,67,共8页
Urban Mass Transit
关键词
机械加工机器人
移动平台
机械臂
运动学分析
动力学分析
machining-op robot
mobile platform
mechanical arm
kinematics analysis
dynamics analysis
