首页 >> 新闻中心 >> 技术支持

创盈时代阿里巴巴

联系我们创盈时代


猜你喜欢:


四轴冲压机械手

冲压机械手

六轴工业机器人

工业机器人

搬运机器人

搬运机器人


视频案例:


如何定义冲压机械手的工作空间

时间:2018-11-14  来源:本文搜集于网络,由冲压机械手厂家创盈时代整理,欢迎转载,转载注明出处  点击:48

冲压机械手的工作空间是指机械手臂杆的特定部位在一定条件下所能到达空间的位置集合。工作空间的性状和大小反映了冲压机械手工作能力的大小。理解机械手的工作空间时,要注意以下几点:
The working space of a stamping manipulator refers to a set of positions in which a specific part of a mechanical arm rod can reach space under certain conditions. The character and size of the working space reflect the size of the working ability of the stamping manipulator. When understanding the working space of a manipulator, pay attention to the following points:

1、通常冲压机械手说明书中表示的工作空间指的是手腕上机械接口坐标系的原点在空间能达到的范围,也即手腕端部法兰的中心点在空间所能到达的范围,而不是末端执行器端点所能达到的范围。因此,在设计和选用时,要注意安装末端执行器后,机械手实际所能达到的工作空间。

1. Usually the working space indicated in the Stamping Manipulator manual refers to the range that the origin of the mechanical interface coordinate system on the wrist can reach in space, that is, the range that the center point of the wrist end flange can reach in space, rather than the range that can be reached by the endpoint of the end actuator. Therefore, in the design and selection, we should pay attention to the installation of the end actuator, the manipulator can actually achieve the work space.


冲压机械手


2、冲压机械手说明书上提供的工作空间往往要小于运动学意义上的最大空间。这是因为在可达空间中,手臂位置不同时有效负载、允许达到的最大速度和最大加速度都不一样,在臂杆最大位置允许的极限值通常要比其他位置的小些。此外,在最大可达空间边界上可能存在自由度退化的问题,此时的位置称为奇异位形,而且在奇异位形周围相当大的范围内都会出现自由度退化现象,这部分工作空间在机械手工作时都不能被利用。
2. The working space provided on the stamping manipulator manual is often smaller than the maximum space in the kinematics sense. This is because in the attainable space, the arm position is not at the same time the payload, the maximum speed allowed and the maximum acceleration are not the same, the limit value allowed at the maximum position of the arm bar is usually smaller than the other position. In addition, there may be a problem of freedom degradation at the maximum reach space boundary, where the position is called singular singularity, and the phenomenon of freedom degradation occurs in a considerable range around the singular shape, which cannot be used when the manipulator is working.

3、除了在工作空间边缘,实际应用中的冲压机械手还可能由于受到机械结构的限制,在工作空间的内部也存在着臂端不能达到的区域,这就是常说的空洞或空腔。空腔是指在工作空间内臂端不能达到的完全封闭空间。而空洞是指在沿转轴周围全长上臂端都不能达到的空间。
3, in addition to the edge of the workspace, the actual application of the stamping manipulator may also be limited by the mechanical structure, in the interior of the work space also exists in the arm end can not reach the area, which is often said to be empty or cavity. A cavity is a completely enclosed space that cannot be reached at the end of the arm in a working space. And the hole refers to the full length of the upper arm around the axis can not reach the space.

深圳市创盈时代科技有限公司是一家专注于冲床机械手,上下料机械手,冲压机械手,工业机器人,非标自动化设备的研发生产和销售于一体的国家高新技术厂家。

原文地址:http://www.chytime-robot.com/jszc/489.html

本文关键词:冲压机械手空间

Copyright @ 2016 版权所有:深圳市创盈时代科技有限公司 粤ICP备13087279号-3
联系人:汪小姐  电话:0755-81779389 400-0733-598  手机:18819037886
地址:深圳市沙井沙一社区万安路长兴科技园16栋2楼 网址:http://www.chytime-robot.com
主营产品:五轴冲床机械手  四轴冲压机械手  机床上下料机械手  工业机器人  六轴关节机器人  网站地图  XML