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针对建筑板材安装机器人工作流程及载荷要求,研制开发了用于机器人姿态调整的3-UPS/S结构并联平台。根据板材安装的特定环境,提出了基于倾角和激光测距传感信息反馈的机器人位姿检测方法。建立了机器人并联平台运动分析的数学模型,推导了其姿态运动学逆解方程,并通过ADAMS仿真验证了方程的正确性。试验结果表明,该并联平台的结构设计合理,能够实现大质量、大尺寸建筑板材的自动化安装。
Aimed at the workflow and load requirements of building plate mounting robots, a 3-UPS / S structure parallel platform for robot attitude adjustment has been developed. According to the specific environment of sheet metal mounting, pose detection method of robot based on inclination and laser range sensing information feedback is proposed. The mathematical model of robot parallel platform motion analysis is established. The inverse kinematics equation of the robot is deduced. The correctness of the equation is verified by ADAMS simulation. The test results show that the structure of the parallel platform is reasonable and can realize the automatic installation of large-size and large-sized building boards.