3R-3P双臂机器人用于纤维缠绕运动分析研究

摘要

在丝嘴处于缠绕轴平面运动的基本运动方程的基础上，推出一种能方便地用于异形缠绕的3R-3P双臂机器人缠绕机，并对运动学特点加以分析研究。%In this paper, the 3R-3P two-arm robot winding machine that can be conveniently used for wind-ing different workpieces is infered on the basis of the fundamental dynamic equations when the nozzle is doing plane movement, and the dynamic features are analysized.