论文部分内容阅读
针对3C行业自动化作业的需求,设计了一种新型桌面型工业机器人,该机器人具有结构紧凑,外形美观,高速、高精度、荷重比高,性价比高等优点。介绍了机器人的设计方法,并对机器人进行了运动学分析,采用D-H方法详细推导了机器人的运动学方程。针对3C行业中的工艺特点,建立了一套轨迹规划算法,并通过Matlab/Solidworks对过程进行联合仿真,仿真结果与理论计算符合。该研究对于3C行业中的小型机器人的设计和应用具有较高参考价值。
Aimed at the demand of automation in 3C industry, a new type of desktop industrial robot is designed. The robot has the advantages of compact structure, beautiful appearance, high speed, high precision, high load-bearing ratio and high cost performance. The design method of the robot is introduced. The kinematics of the robot is analyzed, and the kinematics equation of the robot is deduced in detail by using D-H method. A set of trajectory planning algorithm is established for the process characteristics in 3C industry. The process simulation is simulated by Matlab / Solidworks. The simulation results are in line with the theoretical calculation. This study has a high reference value for the design and application of small robots in 3C industry.