【摘要】 针对目前已有的3P3R机器人,设计符合其使用要求的工具切换装置及其控制系统。在进行机器人末端工具切换前通过误差修正控制程序对3P3R机器人的位置及姿态误差进行校正,以达到提高机器人工具切换精度的目的。通过使用3P3R机器人工具切换装置,使3P3R机器人能够执行多方面、多元化、多种类的工作,提高机器人的使用效率及柔性。更多还原

【Abstract】 This paper introduces the key technology and working principle of the robot tool switching device which can significantly improve the working ability and the efficiency of the tool switching for the robot. A new tool switching device and its control system are designed to meet the requirements of its use for the existing3 P3 R robots. Before the tool switching,the position and posture error of robot is corrected through error correction control program to improve the accuracy of robot. By using the 3 P3 R robot tool switching device,the 3 P3 R robot can perform various,diversified and multi kinds of work to improve the efficiency and flexibility.更多还原