基于六自由度机械手上下料的运动分析

摘要

Mechanical hand in the industrial field gradually pay attention to it, it also embodies the important aspect of the application of robot technology. It not only effectively increase the parts processing production, and can solve the human is unable to complete the work in the working requirements of high risk under the. In our country the manipulator application support in the industrial field, the machining range of NC machine tools is more and more big, the machining accuracy is more and more high, but the domestic on machining at present basic still relies on manual loading and unloading, this way not only can not guarantee the worker's own safety, upper and lower speed and precision of material also unable to meet the requirements of NC machine tool automation. Six degree of freedom mechanical hand feeding can not only quick action, but also can realize the accurate positioning etc.This paper mainly through the six degree of freedom manipulator to realize the automatic production line of discharging work, the wool embryo and CNC NC machine tool parts organically, realize the automation of machining process, the wool embryo forming parts and the use of mechanical hand series way to finish processing, studies its movement trajectory, movement analysis.%机械手在工业领域逐渐被重视起来，它也体现了机器人技术应用的重要方面。它不仅有效的增加了零件加工产量，并且可以在高危险性的工作要求下解决人力无法完成的工作。在我国对机械手应用在工业领域的支持下，数控机床的加工范围越来越大，加工精度越来越高，但是国内对零件加工目前基本还是依靠人工进行上下料，这种方式不仅无法保证工人的安全，上下料的速度与精度也无法满足数控机床自动化的要求。六自由度机械手上下料不但可以动作迅速，还可以实现定位准确等优点。该文主要通过六自由度机械手实现自动化流水线上的上下料工作，将零件毛胚与CNC数控机床有机结合起来，实现自动化加工，将零件毛胚加工成型的过程并使用机械手串联的方式完成加工，研究其运动动作轨迹，分析运动状态。