【摘要】 介绍了白车身左前门工位的拼焊机器人的空间运动原理和空间运动状态,通过对拼焊机器人坐标的齐次变换,建立机器人运动学方程,并分析了拼装机器人的运动轨迹。用VB编译了拼装机器人运动轨迹的计算程序,根据约束条件计算出各节点坐标和转臂转角。然后利用CATIA建模软件,对机器人及其工位环境进行建模,对机器人空间运动轨迹进行了模拟仿真。更多还原

【Abstract】 The spatial motion principle and motion contrail of a wielding robot are analyzed in thispaper. The homogenous coordinates and kinetic equation of the robot are established byDenavit-Hartenberg’s method. A computer program is compiled by using VB to calculatethe robot’s motion contrail. By substituting the constraint conditions, the joints’ coordinatesand the arms’rotation angles are figured out. The simulation model of the robot and itsworking condition is also established by using CATIA. The model fulfills the simulation ofthe robot’s spatial motion.更多还原