中国机械工程Issue(9)：1208-1213,6.DOI:10.3969/j.issn.1004-132X.2014.09.014
基于复杂零件五轴加工系统的可重构机器人建模与试验
Reconfigurable Robot Modeling and Experiments Based on 5-axis Machining System for Complex Parts
摘要
Abstract
The G-code was used for reconfigurable robot multi-axis machining systems for machi-ning complex parts with freeform surfaces of light materials with lower tolerance.A five-axis vertical articulated robot for complex surface machining was considered as a specific configuration of the five-axis vertical milling machine (X,Y,Z,A,B)spindle-tilting type to have developed the prototype of robotic control system.This paper described the robot modeling approach in detail,involved solving of direct and inverse kinematics and analysis of the robot workspace for the cases of three-axis and five-axis machining.The programming,control and processing capacity of the prototype of developed ro-botic machining system was verified by the machining experiments of three work pieces of light mate-rials.关键词
G代码/机器人建模/正向运动学/逆向运动学/机器人工作空间分类
机械制造引用本文复制引用
夏伯雄,杜军..基于复杂零件五轴加工系统的可重构机器人建模与试验[J].中国机械工程,2014,(9):1208-1213,6.基金项目
湖北省教育厅科学技术研究项目(B20128806) （B20128806）
