| 双臂焊接机器人的速度和加速度协调 |
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| 引用本文： | 何开明,李璨.双臂焊接机器人的速度和加速度协调[J].武汉理工大学学报,1996(4). |
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| 作者姓名： | 何开明 李璨 |
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| 作者单位： | 武汉工业大学机电学院 |
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| 摘 要： | 用微分几何的理论和Ｄ－Ｈ法完成了２Ｒ－３Ｐ２Ｒ双臂机器人用于空间曲面工件焊接的速度协调和加速度协调的研究，导出了由工艺给定的焊速求解各关节运动速度和加速度的计算公式。
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| 关 键 词： | 双臂机器人 速度协调 加速度协调 焊接 |
Velocity Harmonization and Accceleration Harmonization of a Two Arm Robot for Welding |
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| He Kaiming School of Mechanical and Electrical Engineering,WUT,Wuhan ,China. Li Chen.Velocity Harmonization and Accceleration Harmonization of a Two Arm Robot for Welding[J].Journal of Wuhan University of Technology,1996(4). |
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| Authors: | He Kaiming School of Mechanical and Electrical Engineering WUT Wuhan China Li Chen |
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| Affiliation: | He Kaiming School of Mechanical and Electrical Engineering,WUT,Wuhan 430070,China. Li Chen |
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| Abstract: | In the present paper,the study of velocity harmonization of a 2R 3P2R two arm robot is finished for welding on surface with the differenital geometry theory and D H method.The formulas to calculate velocity and acceleration of all joints from the required welding rate are deduced. |
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| Keywords: | two arm robot velocity hrmonization acceleration harmonization weld |
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