【摘要】 用微分几何理论和Ｄ－Ｈ法研究了２Ｒ－１Ｐ３Ｒ 双臂机器人用于异形石材加工的速度协调和加速度协调，导出了由工艺给定的切削加工速度求解各关节运动速度和加速度的计算公式。使计算机能用这些公式进行计算并控制各关节的速度，满足刀具作业点相对于工件表面作匀速切削加工的要求，该机器人能用于实际切削工作。更多还原

【Abstract】 In this paper,velocity harmonization and acceler ation harmonization of a 2R-1P3R two-arm robot have been studied for special-shaped surface stone with the differential geometry theory and D-H method. The formulas to calculate ve locity and acceleration of all joints from the required machining rate are deduced. Thus computer can use these formulas to cal culate and control the velocity of each joint so that the cutter can move at uniform velocity relative to the work. It’ to say this robot can cut actually.更多还原