| 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. |
| 关键词: 宏微机器人 柔性机械臂 焊缝 跟踪 |
| DOI： |
| 分类号: |
| 基金项目:国家科技支撑计划资助项目(2012BAH28F03) |
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| Space welding trajectory tracking of flexible-macro rigid-micro manipulator system |
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GAO Sheng, ZHANG Piaoshi, LIU Jubao
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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. |
| Key words: macro-micro robot flexible manipulator weld seam tracking |
