【摘要】 针对目前风道钣金加工需要人工操作、成本高和偏差大的缺点,设计一种咬合互助式钣金加工机器人,并详细论述了其结构设计和控制系统的组成。以该机器人本体为研究对象,对其进行运动学求解,推导出凸轮和蓄能弹簧的参数值。根据关键部件参数制作样机,并对样机进行合理性试验,试验结果表明,其加工工艺满足系统要求。更多还原

【Abstract】 Aiming at the shortcoming that manual processing,high cost and large deviation of the sheet metal processing of air duct at present,a kind of bite-in mutual-aid sheet metal processing robot was designed and the composition of the structure design and control system was discussed in detail.Taking the robot body as the research object,kinematics was solved and the parameters of cam and energy storage spring were deduced.According to the parameters of the key components,a prototype was made and the rationality experiment was carried out on the prototype.The experimental results show that the processing technology meets the requirements of the system.更多还原