| 机械加工中多关节机器人手臂与工件干涉问题 |
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| 引用本文： | 杨红梅!机械与汽车工程系,单鹏!机械与汽车工程系.机械加工中多关节机器人手臂与工件干涉问题[J].辽宁工学院学报,1999(Z1). |
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| 作者姓名： | 杨红梅!机械与汽车工程系 单鹏!机械与汽车工程系 |
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| 摘 要： | 建立了ＲＶ－ Ｍ１ 型机器人干涉的数学模型。利用反运算求解关节角；并推导出手臂与工件干涉的判别关系，通过编程处理得到不干涉的最大半径与ＴＬ、Ｌ的关系。
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| 关 键 词： | 多关节机器人 干涉 最大半径 |
Problem on Interference Between Arms and Workpieces While Machining Robot with Multiarticulus |
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| Yang Hongmei, Shan Peng.Problem on Interference Between Arms and Workpieces While Machining Robot with Multiarticulus[J].Journal of Liaoning Institute of Technology(Natural Science Edition),1999(Z1). |
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| Authors: | Yang Hongmei Shan Peng |
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| Affiliation: | Yang Hongmei; Shan Peng |
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| Abstract: | A mathematical model is established on interference happening to RV-MI type of Robot. The articular angles are found by applying anticalculation. Hereby, a discriminant relationship is reached between workpieces and arms. The relationship between \%TL,L\% and max radius of noninterference is found through programming with data available herein. |
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| Keywords: | robot with multiarticulus interference max radius |
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