机械制造与自动化Issue(2)：153-155,162,4.
齿轮抓取机械手运动学建模与仿真
Gear Crawling Robot Kinematics Modeling and Simulation
仲冰冰 1张龙 1孟庆爱 1崔龙飞 1庄文许1
作者信息
- 1. 南京理工大学 机械工程学院，江苏 南京210094
- 折叠
摘要
Abstract
Gear finishing is the procedure in which NC working punching machine is used to remove the gear burrs etc, but the gears need to be accurately placed at the appointed position of the punching worktable. To realize the production automation, boost pro-ductivity and reduce the accident caused by tiredness, a gear finishing robot is designed to replace workers to complete the gear pla-cing and guarantee the positioning accuracy. In order to study the dubiety between each moving elements and the hand of the robot in the space, D-H method is used to get the kinematic modeling. Based on the con-rod coordinate system sketch, the homogene-ous coordinate transformation is used to solve the positive problem of robot kinematics,which lays the foundation for the trace pro-gramming and simulation later.关键词
机械手/运动学/仿真Key words
robot/kinematics/simulation分类
信息技术与安全科学引用本文复制引用
仲冰冰,张龙,孟庆爱,崔龙飞,庄文许..齿轮抓取机械手运动学建模与仿真[J].机械制造与自动化,2014,(2):153-155,162,4.
