| 柔性宏刚性微机械臂空间焊接轨迹跟踪 |
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| 引用本文： | 高胜,张飘石,刘巨保.柔性宏刚性微机械臂空间焊接轨迹跟踪[J].焊接学报,2014,35(2):37-41. |
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| 作者姓名： | 高胜 张飘石 刘巨保 |
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| 作者单位： | 东北石油大学机械科学与工程学院, 大庆 163318 |
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| 基金项目： | 国家科技支撑计划资助项目(2012BAH28F03) |
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| 摘 要： | 柔性宏刚性微机械臂是一类特殊结构机械臂系统,适用于空间大范围运动与精密操作任务.文中以2个柔性宏机械臂和3个刚性微机械臂构成的平面机械臂为研究对象,对其动力学建模、宏微冗余空间分解、运动误差补偿等问题进行了研究,给出了较为详实的仿真试验结果,验证了采用柔性宏刚性微机械臂实现空间焊接的可能性.
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| 关 键 词： | 宏微机器人 柔性机械臂 焊缝 跟踪 |
| 收稿时间： | 2013/7/28 0:00:00 |
Space welding trajectory tracking of flexible-macro rigid-micro manipulator system |
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| GAO Sheng,ZHANG Piaoshi and LIU Jubao.Space welding trajectory tracking of flexible-macro rigid-micro manipulator system[J].Transactions of The China Welding Institution,2014,35(2):37-41. |
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| Authors: | GAO Sheng ZHANG Piaoshi and LIU Jubao |
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| Affiliation: | School of Mechanical Science and Engineering, Northeast Petroleum University, Daqing 163318, China |
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| Abstract: | Flexible-macro rigid-micro manipulator is a special structure robot system,which is suitable to perform large motion with precise operation task. Dynamics modeling,macromicro redundant space partitioning and motion error compensating method was studied for a planar manipulator system containing two flexible-macro manipulators and three rigid-micro manipulators. Detailed simulation results are given to verify the possibility of space welding using flexible-macro rigid-micro manipulator. |
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| Keywords: | macro-micro robot flexible manipulator weld seam tracking |
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