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通常,机器人的手腕是通过三个回转运动来实现任意姿势的变换的。事实上通过一次回转运动,可将物体从一种姿势变换为另一种姿势。本文定义了正立姿势,研究了正立姿势间通过一次回转运动的变换种类,计算出了变换轴的种类,方向余弦以及回转角度的大小,并举出了正立姿势间变换机构的例题。说明了在重复生产过程中,利用一次回转,进行正立姿势间的变换将使变换机构简单、便利。
Usually, the robot’s wrist is through three rotary movements to achieve the transformation of any position. In fact, through a rotary movement, the object can be changed from one posture to another posture. In this paper, the erect posture is defined, and the type of transformation axis, the direction cosine and the rotation angle are calculated by the transformation type of one rotation movement in the erect posture, and examples of transformation mechanism of erect posture are given. It shows that the conversion mechanism is simple and convenient when using a single rotation in the process of repeated production, and the conversion between the vertical positions.