关于机械手的英文文献.docx

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1、关于机械手的英文文献IndustrialRobotsforManipulationwithParallelKinematicMachinesZdenkKolbalBrnoUniversityofTechnology,FacultyofMechanicalEngineering,Technicka2,61669Brno,CzechRepublic,e-mail:kolibalfme.vutbr.czAbstract:Thepresentedarticleanalysesstructuresofkinematicchainsinindustrialrobots,i.e.theirpositioni

2、ngandorientationmechanismswithrespecttopositioningofend-effectorswithintheworkspaceofparallelkinematicmachineandinitsvicinitywiththeaimtofacilitateaselectionofappropriateindustrialrobotforautomaticinbetweenoperationalmanipulationintheperipheryofsuchamachineorproductionsystems.Keywords:Industrialrobo

3、t,kinematicchain,linkage,arrangement,machiningcentre,parallelkinematicIINTRODUCTIONWithdevelopmentofcontrolsystemsandcomputertechnology,theconstructionofproductionmachines,andmachiningcentresinparticular,haswitnessedarevivalofthesocalledStewardplatformpositionedinspaceasaplanesuspendedevenlyinthreeo

4、rsixpointsbymeansoflinearactuators.Thesameprincipleformsthebasisoftheindustrialrobotwiththisparallelkinematicsofitsbasickinematicchain-TRICEPTHP1.writtenintwocolumns.Oneoftheadvantagesofsodesignedmachiningcentresisarelativeeaseofbuildingthemintotherunningworkunits.Heretheuseofindustrialrobotsseemsto

5、beanappropriateformofinbetweenoperationalmanipulations.However,theselectionofrobotscannotbecasual;therehastobeanallsidedadaptationoftherobottotheconstructionandhandlingpossibilitiesofparallelkinematicmachines,i.e.adaptationintermsofmorphology(architectureofkinematicchain,numberofdegreesoffreedom),in

6、termsofpurpose(selectionofappropriateendeffectors,ifpossibleautomaticallyreplaceable)andintermsofcontrol3.If,however,themachiningcentreisnotequippedwithanothermanipulationperipheraldevice,ascanbeseene.g.inFig.1,theindustrialrobothastodirectlyencompasstheworkspaceoftheservicedmachiningcentreandaflowo

7、fmaterial(semi-productsandworkpieces)isaccomplisheddirectlybythisindustrialrobot.Figure1aMachiningcentreofcompanyINGERSOLLFigure1bMachiningcentreofcompanyKearney&TreckerInthecaseofperipheryfromFig.1,itisevidentthatapertinentindustrialrobottobeusedforfurthermanipulationisnotsignificantlylimitedinterm

8、sofmainlyitsmorphologyselection(kinematicstructure);thereforethesecasesarenotasubjectofthepresentwork.Acompletelydifferentisthecasewhenadirectroboticmanipulationisrequiredforthemachiningcentrewithparallelkinematic,whichisdesignedintermsofcurrenttrends,i.e.thecomponentsandmechanismsofthecentrevirtual

9、lyencompassitsworkspace(seeFig.2).Figure2aMachiningcentreofFhIChemnitzCurrentmachiningcentreswithparallelkinematics(seeFig.2)can,intermsofindustrialrobotdirectserviceability,rankamongproductionmachineswithspacelimitedserviceability;thereforethisshouldbetakenintoaccountfortheselectionofindustrialrobo

10、ts.Figure2bMachiningcentreofcompanyGIDDING&LEWISFigure2cMachiningcentreofcompanyINGERSOLLIIBASICANDDERIVEDTYPESOFINDUSTRIALROBOTSAsstatedinmostoftheexistingpublications,basictypesofindustrialrobotscanbethosedescribedinFig.3:Figure3aCartesiantype(K)withlinkageofkinematicpairsTTT此页面能否是列表页或首页？未找到适宜正文内容。