【摘要】 针对缸套类零件生产线的特点,设计了上下料搬运机械手,分析了其工作流程,并进行了机械手的运动学设计。在建立上下料机械手各杆件的D—H坐标的基础上,构建了五自由度机械手的运动学模型,实现了笛卡尔坐标空间到关节空间的运动变换,通过运动学方程求解得到了正向运动学解,确定了机械手雅克比矩阵和关节速度。更多还原

【Abstract】 According to the characteristics of liner production line, designed a loading and unloading handling robot, analyzed its work pro-cesses, and designed the kinematics of the robot. On the basis of the establishment D-H coordinates of loading and unloading Manipulator’s each rod, constructed the manipulator’s five degrees of freedom kinematic model, transformed Cartesian coordinate space to the joint space, equations obtained by the forward kinematics kinematic solution to determine the manipulator Jacobian matrix and joint velocity.更多还原