曲轴上下料机器人系统的运动学分析及仿真

针对冰箱压缩机曲轴在磨削加工中自动上下料要求，建立了曲轴上下料机器人系统运动过程中的数学模型，基于SolidWorks Motion仿真研究了上下料过程机器人的运动特性。仿真结果表明：机器人在有限工作空间和限制节拍5 s的条件下实现上下料操作的可行性。该曲轴上下料机器人成功应用于实际生产中，开创了曲轴磨削加工中自动上下料的先例。

Kinematics Analysis and Simulation of Loading and Unloading Robot System for Bent Axle

Aiming at requirements of the automatic loading and unloading of bent axle of compressor in refrigerator during the grinding process, the mathematical model of loading and unloading motion system of robot was set up. Based on SolidWorks Motion, motion characteristics of robot during the loading and unloading process was simulated and researched. The simulation result showed that on the condition of 5s of time for operation of each bent axle and in limited workspace, the robot could fulfill all the requirements. The loading and unloading robot of bent axle is under the successful application in practical production, and creates a precedent in grinding process.