摘要
目前工业机器人在机加工领域用中应用广泛,如果被加工零件的尺寸过大,传统的固定式机器人很难满足加工需求,设计了一个全新的机器人系统,在传统的六轴机器人底座添加两个外部行走轴,以扩大工作范围。但如何合理分配行走轴的运动也是一个难点,据此提出针对机器人外部轴的运动分配方法,根据加工范围采用分站式和协同联动式结合的作业模式,以减少机器人关节变化幅度,使机器人运动更加平稳可靠。
It is difficult for traditional stationary robots to meet the processing needs when the size of the parts being processed is too large.In this paper,a new robot system is designed.Two external walking shafts are added to the base of the traditional six-axis robot to expand the working range.However,how to distribute the movement of the walking axis reasonably is also a difficult point.Based on this,this paper proposes a motion distribution method for the external axis of the robot,and adopts the operation mode combining the sub-station type and the cooperative linkage type according to the processing range,so as to reduce the range of joint variation of the robot and make the robot move more smoothly and reliably.
出处
《工业控制计算机》
2020年第4期19-20,23,共3页
Industrial Control Computer
关键词
工业机器人
行走轴
机加工
运动分配
industrial robot
walking shaft
machining
motion distribution
