机器人2009，Vol.31Issue(6)：535-538,4.
一种并联激光焊接机器人的机构设计与运动学分析
Mechanism Design and Kinematics Analysis of a Parallel Manipulator for Laser Welding
摘要
Abstract
A parallel laser welding robot with three legs and five degrees-of-freedom (DOF) is proposed. The parallel robot has spatial working capacities of five DOFs due to its three legs. The forward and inverse kinematics models of this parallel robot are built for laser welding by analyzing its structure characteristics. Then the analytical method is employed to solve the models and the computer simulation is carried out. Finally, the experiments of laser welding with this parallel robot are implemented. The simulation and experiment results show that the proposed parallel robot is suitable for actual laser welding with high speed and high accuracy.关键词
5自由度/激光焊接/并联机构Key words
5-DOF/ laser welding/ parallel mechanism分类
信息技术与安全科学引用本文复制引用
孙元,姜春英,朱思俊,赵明扬..一种并联激光焊接机器人的机构设计与运动学分析[J].机器人,2009,31(6):535-538,4.基金项目
国家863计划资助项目(2006AA04Z235). （2006AA04Z235）
