【摘要】 介绍了机器人研磨系统的构成和工作原理;建立了面向自由曲面研磨精加工的机器人的运动学模型。推导出了机器人的关节逆解并进行了仿真。仿真结果表明,当加工角度一定时,沿着余弦曲面研磨时机器人的关节运动平稳,从而说明运动学模型正确。更多还原

【Abstract】 The paper introduces the structure and operation principle of robot polishing system and constitutes the kinematics model of robot when polishing the free-form surface.The displacement functions of the polishing robot’s joints are deduced and simulated.The results of simulation indicate that the joints of robot are stable along surface of cosine when the machining angle is fixed value.According this,it illuminates that the model of kinematics is correct.更多还原