论文部分内容阅读
本机器人仿真系统是为焊接ＩＶＥＣＯ汽车横梁而研制的，本文在对ＲＶ１２Ｌ６Ｒ焊接机器人结构分析的基础上，建立了运动学模型，并给出了运动学正解、逆解．从图形学的角度，对机器人工作空间实施三维图形仿真，并用三维造型技术集机械手、转位工作台、工件三位一体，来表示机械手复杂的位置、姿态信息．解决了目前国内外学者对机器人运动学仿真系统的研究主要集中在运动学算法［１～５］及简单的二维图形仿真研究上［８～１５］的问题，这里提供了一套通用的方法，同时为转位工作台的设计安装提供了依据．最后在运动学解的结果基础上，给出了横梁焊接示例程序；本系统已成功的应用于ＩＶＥＣＯ横梁焊接．
The robot simulation system is developed for the welding of IVECO automotive beams. Based on the structural analysis of the RV12L6R welding robot, the kinematics model is established and the kinematic positive solution and inverse solution are given. From the perspective of graphics, we implement three-dimensional graphics simulation of the robot workspace, and use the three-dimensional modeling technology to set the manipulator, indexing table and workpiece together to represent the robot’s complex position and attitude information. Solve the current domestic and foreign scholars on the robot kinematics simulation system mainly focuses on the kinematics algorithm [1 ~ 5] and simple two-dimensional graphics simulation [8 ~ 15], here provides a common set of methods , While providing the basis for the design and installation of indexing table. Finally, based on the results of kinematics solution, a sample program of beam welding is given. The system has been successfully applied to IVECO beam welding.