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四轴冲压机械手

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冲压机械手的灵活度是怎样实现的?

时间:2017-10-10  来源:本文转载于网络,由冲压机械手厂家创盈时代整理,欢迎转载,转载请注明出处  点击:113

冲压机械手主要由执行机构、驱动机构和控制系统三大部分组成。
The stamping manipulator mainly consists of three parts, the actuating mechanism, the driving mechanism and the control system.

手部是用来抓持工件(或工具)的部件,根据被抓持物件的形状、尺寸、重量、材料和作业要求而有多种结构形式,如夹持型、托持型和吸附型等。

The hand part is used to hold the workpiece (or tool) parts, according to grasp the object shape, size, weight, material and operation requirements, there are a variety of structural forms, such as holding type, holding type and adsorption type.


五轴冲压机械手

运动机构,使手部完成各种转动(摆动)、移动或复合运动来实现规定的动作,改变被抓持物件的位置和姿势。运动机构的升降、伸缩、旋转等独立运动方式,称为机械手的自由度 。为了抓取空间中任意位置和方位的物体,需有6个自由度。自由度是机械手设计的关键参数,自由度越多,机械手的灵活性越大,通用性越广,其结构也越复杂,一般专用机械手有2~3个自由度。
A moving mechanism that enables the hand to perform various rotational (swinging), moving, or combined movements to achieve prescribed movements, and to change the position and posture of the object being held. The independent movement of the moving mechanism, such as lifting, stretching and rotating, is called the freedom of manipulator. In order to capture any position and orientation in space, 6 freedoms are required. The degree of freedom is the key parameter of the manipulator. The more freedom, the more flexible the manipulator, the more widely used, and the more complex the structure is. The general manipulator has 2~3 degrees of freedom.

控制系统是通过对冲压机械手每个自由度的电机的控制,来完成特定动作。同时接收传感器反馈的信息,形成稳定的闭环控制,控制系统的核心通常是由单片机或dsp等微控制芯片构成,通过对其编程实现所要功能。
The control system performs the special action by controlling the motor of the manipulator at each degree of freedom. At the same time, the feedback of the sensor is received to form a stable closed loop control. The core of the control system is usually composed of micro controller chip such as single chip microcomputer or DSP, and the function is realized by programming.

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原文地址:http://www.chytime-robot.com/jszc/386.html

本文关键词:冲压机械手

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