鎽� 瑕侊細閫氶亷6R姗熷櫒浜鸿粚璺″亸绉诲垎鏋愶紝灏�姗熷櫒浜�闂�(gu膩n)绡€(ji茅)闁撻殭閫茶寤烘ā浠跨湡锛岄噸鐝�(xi脿n)浜嗗闅涚躬鍒惰粚璺″亸绉�銆傜⒑瀹氳贰鍋忕Щ鍘熷洜锛屾寚灏�(d菐o)姗熷櫒浜虹祼(ji茅)妲�(g貌u)瑷�(sh猫)瑷堟敼閫�锛屾彁楂樻鍣ㄤ汉绮惧害銆�

闂�(gu膩n)閸佃锛�姗熷櫒浜�;闂�(gu膩n)绡€(ji茅)闁撻殭;寤烘ā;浠跨湡

Abstract锛�Analsys the trace offset of the 6R robot,build the model of joint clearance,according to the simulation reappear the trace offset, get the result and then guide the structure reform锛宻o get better performance.

Key words锛�Robot; joint clearance; model;simulation

1 绯荤当(t菕ng)浠嬬垂

娣卞湷甯傜溇鐐鸿垐鏁�(sh霉)鎺ф妧琛�(sh霉)鏈夐檺鍏徃鑷富鐮旂櫦(f膩)瑷�(sh猫)瑷堢殑MR601姗熷櫒浜猴紝鏄竴娆鹃泦宸ユキ(y猫)鏁欏(xu茅)鎳�(y墨ng)鐢ㄤ簬涓€楂旂殑MIN I鍨�6鑷敱搴︽鍣ㄤ汉锛屽鍦�1鎵€绀猴紝灏嶆噳(y墨ng)閫ｆ】鍧愭绯昏鍦�2銆�

瑭叉鍣ㄤ汉閲囩敤鍩轰簬PC姗熺殑闁嬫斁寮�鎺у埗绯荤当(t菕ng)锛屾帶鍒剁郴绲�(t菕ng)濡備笅鍦�3鎵€绀�銆�

鍦�3 MR601姗熷櫒浜烘帶鍒剁郴绲�(t菕ng)鏋舵(g貌u)

鎺у埗绯荤当(t菕ng)杌熶欢閲囩敤VC6.0闁嬬櫦(f膩)锛屽叿鏈夐粸浣�銆佺┖闁撶洿绶�銆佺┖闁撴洸绶氶亱鍕曞姛鑳�锛屽彲浠ュ鐝�(xi脿n)闂�(gu膩n)绡€(ji茅)鍧愭绶ㄧ▼鍜岀┖闁撶洿瑙掑潗妯欑法绋嬶紝绌洪枔鐩磋鍧愭鑸囬棞(gu膩n)绡€(ji茅)鍧愭鐩镐簰杞�(zhu菐n)鎻�銆�

2 杌岃贰瑭﹂

鐝�(xi脿n)璁撴鍣ㄤ汉绻埗涓€姝ｆ柟褰�锛屼互椹楄瓑姗熷櫒浜烘暣楂旀€ц兘銆�

姗熷櫒浜烘湯绔浐瀹氫竴榛戣壊娌规€х瓎锛屽伐浣滃钩鑷轰笂鏀剧疆涓€鐧借壊甯剁伆鑹叉绱嬬摲纾氾紝瑕嬩笅鍦�4鎵€绀�锛屼互渚夸簬姗熷櫒浜哄湪鍏朵笂绻湒銆�

姗熷櫒浜烘湯绔Э鎱�(t脿i)閲囩敤ZYZ姝愭媺瑙掕〃绀�锛屽柈浣嶇偤搴�;鍧愭鍠綅鐐烘绫�锛屽湪鐩磋鍧愭绌洪枔灏嶆鍣ㄤ汉鏈鍩�(zh铆)琛屽櫒鍧愭瑷�(sh猫)缃涓嬶細

绗竴榛烇細鍧愭锛�350,0,5锛�,濮挎厠(t脿i)锛�0,180,0锛�;

绗簩榛烇細鍧愭锛�450,0,5锛�,濮挎厠(t脿i)锛�0,180,0锛�;

绗笁榛烇細鍧愭锛�450,100,5锛�,濮挎厠(t脿i)锛�0,180,0锛�;

绗洓榛烇細鍧愭锛�350,100,5锛�,濮挎厠(t脿i)锛�0,180,0锛�;

绗簲榛烇細鍧愭锛�350,0,5锛�,濮挎厠(t脿i)锛�0,180,0锛�;

鍏朵腑锛岀涓€榛炶垏绗簲榛為噸鍚堜互淇濊瓑绻埗鍑轰竴灏侀枆姝ｆ柟褰�銆�

鍦�5姗熷櫒浜虹躬鍒惰粚璺″湒

灏囩洿瑙掔┖闁撳潗妯欒綁(zhu菐n)鎻涚偤闂�(gu膩n)绡€(ji茅)绌洪枔鍧愭銆傛鍣ㄤ汉鏍规摎(j霉)鐢熸垚鐨勯棞(gu膩n)绡€(ji茅)鍧愭閫茶姝ｆ柟褰㈢躬鍒躲€傚悇榛炰綅缃互鍙婄躬鍒剁祼(ji茅)鏋滃涓嬪湒5鎵€绀�銆�

绲�(ji茅)鏋滈’绀�锛屾鍣ㄤ汉鎵€绻埗杌岃贰鐐轰竴骞冲舰鍥涢倞褰�锛屽瓨鍦ㄤ互涓嬪晱椤岋細

锛�1锛� 绗�1榛炶垏瀵﹂殯榛炲亸绉�2mm;

锛�2锛� 閭�12鍜岄倞34鑸囨湡鏈涜粚璺″ぞ瑙掔偤2搴�;

锛�3锛� 閭�23鍜岄倞41鑸囨湡鏈涜粚璺℃湁杩�1搴﹀亸绉�;

锛�4锛� 杌岃贰绶氭涓嶅潎鍕�銆�

3 瑾ゅ樊鍒嗘瀽

姗熷櫒浜虹殑绲�(ji茅)妲�(g貌u)瑷�(sh猫)瑷堣垏瑁濋厤灏嶆暣楂旂殑鎬ц兘褰遍熆寰堝ぇ锛屽湪灏嶇▼搴�銆侀浕鍣ㄩ儴鍒嗘帓鏌ュ悗锛屽皣瑾ゅ樊鐨勫師鍥犻帠瀹氬湪绲�(ji茅)妲�(g貌u)閮ㄥ垎銆�

姗熷櫒浜虹涓€闂�(gu膩n)绡€(ji茅)闆绘瀹夎鍦ㄥ熀搴т笂锛屽叾浣�5鍊嬮棞(gu膩n)绡€(ji茅)闆绘瀹夎鍦ㄥ悓涓€鍊嬫柟鍚戯紝瑕嬪湒2鍧愭绯籜0Y0Z0涓璛0璨犲悜锛岄噸閲忛泦涓湪瑭叉柟鍚�銆�

鐢ㄦ墜鏅冨嫊姣忓€嬮棞(gu膩n)绡€(ji茅)锛岀櫦(f膩)鐝�(xi脿n)绗簩闂�(gu膩n)绡€(ji茅)锛堣鍦�2 鍧愭绯籜2Y2Z2锛夊瓨鍦ㄩ棞(gu膩n)绡€(ji茅)闁撻殭锛岃┎闁撻殭涓昏鏄桓鎵胯桓鍚戦枔闅欏紩璧枫€傚垵姝ュ垽鏂锋鍣ㄤ汉杌岃贰鍋忕Щ鍙兘鏄敱浜庣2鍊嬮棞(gu膩n)绡€(ji茅)鐨勯枔闅欑敘(ch菐n)鐢�锛屾鍣ㄤ汉鎵嬭噦閲嶉噺灏�(d菐o)鑷存墜鑷傚悜闁撻殭鏂瑰悜鏈変竴瀹氳搴︾殑婊剧炕锛屽嵆绻瀀0杌搁€嗘檪閲濊綁(zhu菐n)鍕曚竴寰皬瑙掑害銆�

4 寤烘ā浠跨湡

鐝�(xi脿n)澧炲姞涓€铏涙摤闂�(gu膩n)绡€(ji茅)锛岀瓑鏁堟姊版墜鑷傜殑婊剧炕銆傝櫅鎿棞(gu膩n)绡€(ji茅)杌哥窔鍨傜洿浜庣2闂�(gu膩n)绡€(ji茅)鐨勮桓绶氭柟鍚�锛屽缓绔嬪湒6鎵€绀虹殑鐩搁棞(gu膩n)姗熷櫒浜哄潗妯欑郴銆�

鍦�6 澧炲姞铏涙摤闂�(gu膩n)绡€(ji茅)姗熷櫒浜哄潗妯欑郴

鍏朵腑锛歓0鐐哄熀搴у師榛�锛屽潗妯欑郴X2Y2Z2鐐烘鍣ㄤ汉绗�2闂�(gu膩n)绡€(ji茅)鍧愭绯伙紝鍧愭绯籜mYmZm鐐哄鍔犵殑姗熷櫒浜鸿櫅鎿棞(gu膩n)绡€(ji茅)鍧愭绯�锛岃桓绶歓m鍨傜洿浜庨棞(gu膩n)绡€(ji茅)2杌哥窔Z2銆�

鏍规摎(j霉)鍦�6鐨勫潗妯欑郴寤虹珛姗熷櫒浜虹┖闁撻亱鍕曟柟绋�銆傛牴鎿�(j霉)閭婄窔12鍜岄倞绶�34鐨勫亸绉昏搴︼紝鍋囧畾铏涙摤闂�(gu膩n)绡€(ji茅)鏃嬭綁(zhu菐n)2搴︼紝鍏剁媭鎱�(t脿i)鍦ㄩ亱鍕曢亷绋嬩腑涓嶇櫦(f膩)鐢熻畩鍖�銆傞€茶MATLAB鍕曟厠(t脿i)浠跨湡锛屼豢鐪熺祼(ji茅)鏋滃涓嬪湒銆�

鐢卞湒7鐨勪豢鐪熷湒鑸囧湒5鐨勫闅涜粚璺″湒灏嶆瘮鍙煡锛屽叐鑰呯殑杌岃贰璧板悜鍩烘湰涓€鑷�;寰炲湒8鐨刏鍚戣宸湒鍙互寰楃煡锛屾姊伴枔闅欏皫(d菐o)鑷碯鍚戞湁杩�0.1mm鐨勮畩鍖�銆�

鐢变豢鐪熷垎鏋愮祼(ji茅)鏋滃彲浠ユ柗瀹�锛岃粚璺″亸绉讳富瑕佺敱绗�2闂�(gu膩n)绡€(ji茅)鐨勮桓鎵块枔闅欏紩璧�銆�

寰炵洿瑙€瑙掑害鍒嗘瀽锛氾紙1锛夐棞(gu膩n)绡€(ji茅)闁撻殭灏�(d菐o)鑷存鍣ㄤ汉鎵嬭噦鏈変竴瀹氳寖鍦嶇殑婊剧炕锛岀炕婊捐搴︿笉璁�锛岄毃钁楁墜鑷傜殑灞曢枊鍋忕Щ瑾ゅ樊涓嶆柗澧炲ぇ锛屽皫(d菐o)鑷撮倞绶氬偩鏂溿€傦紙2锛塟鍚戣宸皫(d菐o)鑷寸瓎灏栦笂涓嬬Щ鍕曪紝绶氭杌岃贰涓嶅潎鍕�銆�

5 鍚庤

鏈柟娉曞皣闂�(gu膩n)绡€(ji茅)闁撻殭绛夋晥鐐轰竴鍊嬫棆杞�(zhu菐n)涓€瀹氳搴︾殑铏涙摤闂�(gu膩n)绡€(ji茅)锛屽湪瀹氭€у垎鏋愮殑鍚屾檪锛屽緱鍒伴棞(gu膩n)绡€(ji茅)闁撻殭灏嶆鍣ㄤ汉绮惧害鐨勯噺鍖栬宸€�

鏍规摎(j霉)寤虹珛鐨勮宸柟绋嬫眰瑙ｆ鍣ㄤ汉鐨勯€嗚В锛岄儴鍒嗛棞(gu膩n)绡€(ji茅)杌岃贰鐐哄京(f霉)鏁�(sh霉)瑙�銆傝鏄庨€氶亷绠楁硶灏嶄簬瑭茶宸殑瑁滃劅寰堟湁闄�锛屾鍣ㄤ汉鏁撮珨姗熸绲�(ji茅)妲�(g貌u)鏄焙瀹氭鍣ㄤ汉绮惧害鐨勯棞(gu膩n)閸靛洜绱犮€�

灏嶇2闂�(gu膩n)绡€(ji茅)鐨勮桓鎵块€茶瑾�(di脿o)鏁�锛岃粚璺″亸绉诲晱椤屽緱鍒拌В姹�锛屽彲浠ョ躬鍒跺嚭瑕�(gu墨)鍓囩殑鍦栧舰銆�