中国机械工程2016，Vol.27Issue(8)：1018-1025,8.DOI:10.3969/j.issn.1004-132X.2016.08.005
工业机器人机械本体模块化设计
Modular Design of Mechanical Noumenon for Industrial Robots
摘要
Abstract
Based on the idea of mechanical noumenon modular design method as well as decomposition principles of structure functions,a standard mechanical structure module library was established and the self�assembling function was achieved.The human arm parameters were used as built�in parameters of the standG ard mechanical structure module library,which might establish a extended structure module library with difG ferent sizes and similar functions.The workspace was reclassified based on the geometric characteristics of boundary curves.The solving process of workspace was modularized according to the key point position analyG sis method and improved CAD variable geometric method.The D�H parameters generated by the module liG brary of coordinate system were used as share data among each module library,which might realize automatic solution of kinematics and workspace.The forward kinematics and workspace modular automatic solution of KUKA KR6�2 were taken as an example,the software running results and theoretical calculation results were compared and analyzed,and the results show that this method can meet the robot’s flexible and autonomous design requirements.关键词
工业机器人/模块化设计/工作空间/二次开发Key words
industrial robot/modular design/workspace/secondary development分类
信息技术与安全科学引用本文复制引用
肖超,周玉林,盛海泳,侯雨雷..工业机器人机械本体模块化设计[J].中国机械工程,2016,27(8):1018-1025,8.基金项目
国家科技重大专项(2010ZX04004?112?2) （2010ZX04004?112?2）
