移动机器人结构设计【轮式】
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摘 要
移动机器人是一种由传感器、自主控制的移动载体组成的机器人系统。移动机器人具有移动功能，在代替人从事危险、恶劣(如辐射、有毒等)环境下作业和人所不及的(如宇宙空间、水下)作业环境方面，比一般机器人有更大的机动性，灵活性。随着机器人技术在外星探索、野外考察、军事、安全等全新的领域得到 日益广泛的采用，机器人技术由室内走向室外，由固定、人工的环境走向移动、非人工的环境。本课题是机器人设计的基本环节，能够为后续关于机器人的研究 提供有价值的平台参考和有用的思路。本文对各种移动机器人进行了比较，从而确定了四轮式机器人总体结构与参数的研究设计。对四轮式移动机器人的运动学进行了探讨，建立了运动学模型。在建立运动学模型的基础上对机器人的基本运动方式进行了分析，并推到计算出其动力学模型。本文了解了基于多传感器的移动机器人的自主控制问题。分析了直流伺服电机的动态特性，为后续的研究提供可靠的参考和依据。
关键词：轮式移动机器人；运动学与动力学；自主控制问题
Abstract
Mobile robot is a kind of controlled by sensors, autonomous robot system composed of mobile carrier .Mobile robot has the mobile function, instead of people engaged in dangerous and bad environment (such as radiation, toxic) homework and have less (such as space and underwater) in the working environment, have greater flexibility than ordinary robot, flexibility As robots technology in alien exploration, field investigation, military, security and other new fields are widely used, the robot technology by indoor to outdoor, from fixed, artificial environment to move, not artificial environments. This topic is a basic link of robot design, be able to follow-up on the robot platform for the study provide a valuable reference and useful ideas. In this paper, all kinds of mobile robots were compared to determine the four wheel robot structure and parameters of the study design as a whole. Of four wheeled mobile robot kinematics are discussed in this paper, the kinematics model is established. In kinematics model is established on the basis of the basic movement of robot is analyzed, and its dynamic model to calculate. In this paper, the control problem for mobile robot based on multi-sensor. After the completion of the design analysis of the dynamic characteristics and the feasibility of omnidirectional mobile mechanism, provide reliable reference and basis for follow-up studies .
Key words: wheeled mobile robots; Kinematics and dynamics; Autonomous control
目 录
摘 要 III
Abstract IV
目 录 V
1 绪论 1
1.1 本课题的研究内容和意义 1
1.2 国内外的发展概况 1
1.2.1 国内外发展概况 1
1.2.2 移动机器人的主要组成 2
1.3 本课题应达到的要求 2
2 移动机器人行走机构的总体结构和参数 3
2.1 机器人运动方式的选择 3
2.2 轮式机器人移动能力分析 5
2.3 轮式机器人驱动轮的组成 6
2.4 轮式机器人转向轮的组成 7
2.5 电机的选择 8
2.6 直流伺服电机的数学模型及动态参数的确定 9
2.7 减速机构的设计（蜗轮蜗杆减速机构） 12
2.7.1 电机参数的确定 12
2.7.2 计算传动装置的运动和动力参数 13
2.7.3 蜗轮蜗杆设计计算 14
2.7.4 蜗轮轴的设计 16
2.7.5 初选滚动轴承 16
2.7.6 蜗杆轴的结构设计 18
2.8 机器人的电源供应 19
2.9 车轮及轮毂 19
3 移动机器人的运动学模型 21
3.1 机器人的运动学分析 21
3.2 两种运动规划方法分析 23
3.3 仿真实验 23
3.4 结论 24
4 机器人四轮转向系统的动力学模型 25
4.1轮子 25
4.2 平台体 25
4.3 小结 26
5 自主运动控制 26
5.1 控制系统的选用 26
5.2可行性分析 28
6 结论与展望 28
6.1 结论 28
6.2 不足之处及未来展望 29
致 谢 29
参考文献 30
3
1 绪论
1.1 本课题的研究内容和意义
机器人的应用越来越广泛，几乎渗透到所有领域，移动机器人是机器人学中的一个重要分支。早在六十年代就已经开始了移动机器人的研究。关于移动机器人的研究涉及到许多方面。首先要考虑到移动方式，轮式，履带式，腿式的。其次考虑驱动器的控制，以使机器人达到期望的行为。第三必须考虑到导航或者路径规划，路径有更多的方面考虑，如传感融合，特征提取，避碰及环境映射。因此移动机器人是一个集环境感知动态决策与规划，行为控制与执行等多种功能与一体的综合系统。对移动机器人的研究提出了许多新的挑战或挑战性的理论与工程技术课题，引起越来越多的专家技术人的兴趣，更由于他在军事侦察排雷防止污染等危险与恶劣环境以及民用中的物料搬运具有广阔的应用前景，使得对它的研究在世界各地受到普遍关注。移动机器人按照移动方式可分为轮式，履带式，腿式，其中轮式具有结构简单活动灵活等优点。移动机器人的机构直接影响机器人运动的稳定性和控制器的复杂程度。目前广泛使用的轮式按照移动特性又可将移动机器人分为非全方位和全方位两种。在平面上移动的物体可以实现前后，左右和自传三个自由度的运动称为全方位移动机器人，其不仅可以再任意方向上移动，并且保持本姿态不变，实现全方位的移动的功能也可以改变机体方位。这种特性使得轮式移动的路径规划，轨迹跟踪等问题变得相对简单，并且它能够在狭小的空间完成任务。
通过本次毕业设计，培养学生综合应用机械设计、机械原理、理论力学、大学物理，机械制造装备设计、传感器应用的能力；强调设计的实用性、结构的简单便捷性。同时也培养了我们独立思考分析问题解决问题的能力，为今后机械设计和适应工作岗位打下了坚实的基础。
1.2 国内外的发展概况
1.2.1 国内外发展概况
移动机器人的研究始于上世纪60年代末期，随着计算机技术、传感器技术以及信息处理技术的发展，移动机器人已被广泛应用于工业、农业、医疗、保安巡逻等行业。机器人技术的发展，它应该说是一个科学技术发展共同的一个综合性的结果，也同时，为社会经济发展产生了一个重大影响的一门科学技术，它的发展归功于在第二次世界大战中，各国加强了经济的投入，就加强了本国的经济的发展。另一方面它也是生产力发展的需求的必然结果，也是人类自身发展的必然结果，那么人类的发展随着人们这种社会发展的情况，人们越来越不断探讨自然过程中，在改造自然过程中，认识自然过程中，实现人们对不可达世界的认识和改造，这也是人们在科技发展过程中的一个客观需要。
国外对于移动机器人的研究起步较早，日本是开发机器人较早的国家，并成为世界上机器人占有量最多的国家，其次是美国和德国。进入90年代，随着技术的进步，移动机器人开始在更现实的基础上，开拓各个应用领域，向实用化进军。前苏联曾经在移动机器人技术方面居于世界领先的地位，俄罗斯作为前苏联的继承者，在机器人技术领域依然具有相当雄厚的技术基础，ROVER科技有限公司把在开发空间机器人中获得的经验应用于开发地面机器人系统，如极坐标平面移动车、爬行移动机器人、球形机器人、工作伙伴平台以及ROSA-2移动车等，最近的突出成果是2003年发射的火星漫游机器人一一“勇气”号与“机遇”号。虽然国内有关移动机器人研究的起步较晚，但也取得了不少成绩。2003年国防科技大学贺汉根教授主持研制的无人驾驶车采用了四层递阶控制体系结构以及机器学习等智能控制算法，在高速公路上达到了130Km/h的稳定时速，最高时速170Km/h，而且具备了自主超车功能，这些技术指[1]标均处于世界领先的地位。但是我国在机器人的核心及关键技术的原创性研究、高性能关键工艺装备的自主设计和制造能力、高可靠性基础功能部件的批量生产应用等方面，同发达国家相比，我国仍存在较大的差距。未来研究热点是将各种智能控制方法应用到移动机器人的控制。
1.2.2 移动机器人的主要组成
一个理想的移动机器人系统通常由三个部分组成：移动机构，感知系统和控制系统。移动机构是移动机器人的核心，决定了机器人的核心，决定了机器人移动空间。感知系统一般采用摄像机，激光测距仪，超声波传感器，红外传感器，陀螺仪等。随着计算机技术人工智能技术和传感技术的迅速发展，移动机器人的控制系统的研究具备了坚实的基础和良好的发展前景。移动机器人的控制与工作环境信息密切相关而且包容着各种不确定因素，因此在已知或未知的环境中作业时，以适当的建模方法表达环境，用必要的传给器探测环境具有重要意义。机器人的构型选型和设计需要根据机器人实际执行的工作来进行，尤其对适应环境能力要求较高的移动机器人来讲，构型不仅满足应用场合，积极开饭新的结构更要使机器人运行稳定且可靠。从而减少误差及不稳定影响。
对移动机器人机构学的研究还涉及机器人的运动学，动力学问题。控制系统的输入量需从对机器人的运动学，动力学建模分析得到的数学模型计算得出。移动机器人是一个交叉的研究领域，涉及机械，控制，传感器技术，信息信号处理，模式识别，人工智能和计算机技术等技术科学。
1.3 本课题应达到的要求
(1)设计移动移动机器人行走机构的总体结构和参数；
(2)建立移动机器人的运动学模型及机器人四轮转向系统的动力学模型；
(3)研究移动机器人运动的动态特性和机器人自主控制的问题。
编号
无锡太湖学院
毕业设计（论文）
相关资料
题目： 移动机器人结构设计
信机 系 机械工程及自动化专业
学 号： 0923122
学生姓名： 赵熙熙
指导教师： 龚常洪（职称：副教授 ）
（职称： ）
2013年5月25日
目 录
一、毕业设计（论文）开题报告
二、毕业设计（论文）外文资料翻译及原文
三、学生“毕业论文（论文）计划、进度、检查及落实表”
四、实习鉴定表
无锡太湖学院
毕业设计（论文）
开题报告
题目： 移动机器人结构设计
信机 系 机械工程及自动化 专业
学 号： 0923122
学生姓名： 赵熙熙
指导教师： 龚常洪 （职称：副教授 ）
（职称： ）
2012年11月25日
课题来源
导师提供
科学依据（包括课题的科学意义；国内外研究概况、水平和发展趋势；应用前景等）
（1）课题科学意义
机器人的应用越来越广泛，几乎渗透到所有领域，移动机器人是机器人学中的一个重要分支。早在六十年代就已经开始了移动机器人的研究。关于移动机器人的研究涉及到许多方面。首先要考虑到移动方式，轮式，履带式，腿式的。其次考虑驱动器的控制，以使机器人达到期望的行为。第三必须考虑到导航或者路径规划，路径有更多的方面考虑，如传感融合，特征提取，避碰及环境映射。因此移动机器人是一个集环境感知动态决策与规划，行为控制与执行等多种功能与一体的综合系统。对移动机器人的研究提出了许多新的挑战或挑战性的理论与工程技术课题，引起越来越多的专家技术人的兴趣，更由于他在军事侦察排雷防止污染等危险与恶劣环境以及民用中的物料搬运具有广阔的应用前景，使得对它的研究在世界各地受到普遍关注。
（2）移动机器人研究状况及其发展前景
移动机器人控制技术是当今自动化领域技术发展的热点之一，受到了各方面的关注。社会的发展极大地推动了机器人的发展。轮式机器人的发展正处于快速成长阶段。由于有较强的活动能力，良好的稳定性特点，有办公室机器人，仓库搬运，危险未处理，医疗保健，军用等。
国外移动机器人的发展基本沿着两条路线，一条是以需求牵引技术发展，如日本瑞典，另一条是美国欧洲一些大学和研究机构走的学术路线，即把机器人作为研究人工智能的载体，而由于人工智能和其他智能技术距离人们的期望甚远有待进一步发展。移动式机器人是继工业革命后又一新领域有着广泛的前景，并且查找相关资料我国在机器人方面比较落后，而物联网技术正在发展，并且物联网基地在我们无锡，或许在不久的将来，物联网技术，智能控制技术，遥控技术的发展使移动式机器人会普及到家庭。
研究内容
① 了解移动式机器人的工作原理，国内外的研究发展现状；
② 完成移动机器人的总体结构和参数设计；
③ 建立移动机器人的运动学模型及机器人四轮转向系统的动力学模型；
④ 研究其自主控制问题，并验证其合理性；
⑤ 熟练掌握有关计算机绘图软件，并绘制装配图和零件图纸，折合A0不少于3张；
⑥ 完成设计说明书的撰写，并翻译外文资料1篇。
拟采取的研究方法、技术路线、实验方案及可行性分析
（1）研究方法：
通过参阅借来的参考资料，认真研究移动机器人的运动方式，了解移动机器人的工作原理，与指导老师交流来完成对移动式机器人结构的毕业设计。
（2）技术路线：
提出任务分析对移动机器人的需求确定任务要求，完成设计任务书。方案设计阶段对移动机器人的运动方式进行分析比较，确定一种简单便捷的可行性运动方式。技术设计阶段进行后轮差速系统的设计，前轮转向轮的设计，直流伺服电机的选择，蓄电池的选择，减速机构蜗轮蜗杆的参数的设计，轮胎大小的选择。完成对移动机器人的运动学建模与动力学建模，并设计其自主控制系统。最后绘制出方案设计阶段对检测车功能进行分析提出可能的解决方案，绘制出零件图部件图总装图最后完成技术文件的编制其中包括编制设计计算说明书、使用说明书、标准明细表、其他技术文件等。，技术可行性。
作为机械专业的学生所常用的必备软件，SolidEdge、CAD软件。
研究计划及预期成果
研究计划：
2012年11月12日-2012年1月20日：按照任务书要求查阅论文相关参考资料，填写毕业设计开题报告书，并实训。
2013年2月11日-2013年2月23日：找一篇相关外文期刊并翻译。构建框架，完成第一章绪论。
2013年3月4日-2013年3月8日：完成总的结构方案设计。
2013年3月11日-2013年4月20日：开始绘图，完成装配图以及部件图的绘制。
2013年4月22日-5月3日：着手写说明书初稿，修改，完成初稿。
2013年5月6日-5月20日：修改说明书并定稿，打印，整理资料准备答辩。
特色或创新之处
（1）主题明确，有针对性，稳定， 易实现。
（2）结构合理，功能完善，机器人的移动能基本实现。
已具备的条件和尚需解决的问题
（1）技术条件：整体构架基本明确，，已经具备使用二维三维作图的能力。
（2）尚未解决的问题：技术还不够成熟，灵活性较弱。
指导教师意见
指导教师签名：
年 月 日
教研室（学科组、研究所）意见
教研室主任签名：
年 月 日
系意见
主管领导签名：
年 月 日
英文原文
Weld robot application present condition
According to incompletely statistics, the whole world about has in the industrial robot of service nearly half of industrial robots is used for multiform weld to process realm, weld robot of application in mainly have two kinds of methods most widespreadly, then order Han and electricity Hu Han.What we say's welding robot is in fact welding to produce realm to replace a welder to be engaged in the industrial robot of welding the task.These weld to have plenty of to design for being a certain to weld a way exclusively in the robot of, but majority ofly weld robot in fact is an in general use industrial robot to pack up a certain weld tool but constitute.In many task environments, a set robot even can complete include weld at inside of grasp a thing, porterage, install, weld, unload to anticipate etc. various tasks, robot can request according to the procedure with task property and automatically replace the tool on the robot wrist, the completion corresponds of task.Therefore, come up to say from a certain meaning, the development history of industrial robot is the development history that welds robot.
Know to all, weld to process to request that welder have to have well-trained operation technical ability, abundant fulfillment experience, stability of weld level;It is still a kind of labor condition bad, many smoke and dust, hot the radiation is big, risk Gao of work.The emergence of the industrial robot makes people naturally thought of first the handicraft that replace a person with it welds and eases the welder's labor strength, can also promise to weld quality and exaltation to weld an efficiency at the same time.
However, weld again with other industry process process different, for example, electricity Hu Han process in, drive welder piece because of part heat melt with cool off creation transform, the Han sews of the track will therefore take place to change.Handicraft Han the experienced welder can sew position according to the actual Han observed by eyes adjustment Han in good time the position, carriage of the gun and run about of speed to adapt to the variety that the Han sews a track.However the robot want to adapt to this kind of variety, have to the position and status of gun that want to"see" this kind of to change, then adopt homologous measure to adjust Han like person first, follow while carrying out to sew actually to the Han.Because the electricity Hu welds to have in process strong arc light, give or get an electric shock Hu noise, smoke and dust and Rong drop transition unsteady and causable Han silk short circuit, big electric current strong magnetic field etc. complicated environment factor of existence, the robot wants to examine and identifies a withdrawing of the signal characteristic needed for sewing Han and don't seem to be industrial the other in the manufacturing to process the examination of process so easily, therefore, welding the application of robot is to used for to give or get an electric shock the process of Hu Han in the beginning.
Actually, industrial robot at welded the application of realm to produce on-line electric resistance to order a Han beginning from the car assemble at the earliest stage.The reason lies in the process that the electric resistance orders Han opposite more simple, control convenient, and not need Han to sew a track follow, to the accuracy of the robot and repeat the control of accuracy have lower request.Order the Han robot assembles to produce a great deal of on-line application to consumedly raise the rate of production that the car assemble welds and weld quality in the car, at the same time again have a gentle characteristics for welding, then want ~only change procedure, can produce in the same on-line carry on assemble to weld to different cars type.
BE born till the beginning of this 80's in century from the robot, the robot technique experienced a development process of long term slowness.90's, along with the rapid development of calculator technique, micro-electronics technique, and network technique...etc., the robot technique is also flown soon a development.The manufacturing level, control speed and control accuracy and dependable sex etc. of industrial robot continuously raises, but manufacturing cost and price of robot continuously descend.Is social in the west, with contrary robot price BE, the person's labor force cost contains the trend to continuously increase.United Nations European Economic Committee(UNECE) statisticses from the variety curve of 1990-2000 years of the robot price index number and labor force cost index number.Among them the robot price of 1990 index number and labor force cost the index number is all reference to be worth 100, go to 2000, labor force cost index number is 140, increased 40%;But robot under the sistuation that consider a quality factor the price index number is lower than 20, lowered 80%, under the sistuation that take no account of a quality factor, the price index number of robot is about 40, lowered 60%.Here, the robot price that takes no account of a quality factor means actual price of the robot of now with compared in the past;And consider that the quality factor means because the robot make the exaltation of craft technique level, manufacturing quality and function of robot even if want also under the condition of equal price compare high before, therefore, if pressed the past robot equaled quality and function to consider, the price index number of robot should be much lower.
Can see from here, national in the west, because the exaltation of labor force cost brings not small pressure for business enterprise, but the lowering of robot price index number coincidentally expands application to bring a chance further for it again.Reduce the equipments investment of employee and increment robot, when their expenses attains some one balance point, the benefit of adoption robot obviously wants to compare to adopt the benefit that the artificial brings big, it on the other hand can consumedly raise the automation level of producing the equipments and raise to labor rate of production thus, at the same time again can promote the product quality of business enterprise, raise the whole competition ability of business enterprise.Although robot 1 time invests a little bit greatly, its daily maintenance and consume is more opposite than its to producing far is smaller than completing the artificial expenses that the same task consumes.Therefore, from farsighted see, the production cost of product also consumedly lowers.But the robot price lower to make some small and medium enterprises invest to purchase robot to become easy to accomplish.Therefore, the application of industrial robot is soon flown a development in every trade.According to the UNECE statistics, the whole world has 750,000 in 2001 set the industrial robot is used for industry manufacturing realm, among them 389,000 in Japan, 198,000 in EU, 90,000 in North America, 73,000 at rest nation.Go to at the end of 2004 the whole world to have at least in the industrial robot of service about 1,000,000.
Because the robot controls the exaltation of speed and accuracy and particularly give or get an electric shock the development that the Hu spreads a feeling machine to combine to weld in the robot in get an application, make the robot give or get an electric shock the Han of Hu Han to sew a track to follow and control a problem to some extent and get very solution, the robot welds in the car to make the medium application orders Han to soon develop into the car zero from originally more single car assemble partses and electricity Hu within assemble process Han.Robot's giving or getting an electric shock the biggest characteristics of Hu Han is gentle, can immediately pass to weave a distance at any time a change to weld a track and weld sequence, therefore most be applicable to quilt welder piece the species variety is big, the Han sew short but many, product with complicated shape.This at the right moment again characteristics according to car manufacturing.Being the renewal speed of the particularly modern social car style is very quick, adopting the car production line of robot material can nicely adapt to this kind of variety.
Moreover, robot's giving or getting an electric shock Hu Han not only used for a car manufacturing industry, but also can used for other manufacturing industries that involve to give or get an electric shock Hu Han, like shipbuilding, motorcycle vehicle, boiler, heavy type machine etc..Therefore, the robot gives or gets an electric shock the application of Hu Han gradually extensive, on the amount greatly have exceed the robot order the power of Han.
Along with car reducing in weight manufacturing the technical expansion, some high strong metal alloy materials and light metal alloy material(is like aluminum metal alloy, and magnesium metal alloy...etc.) get an application in the material in the car structure.These materials' welding usually can not solve with the welding of tradition method, have to adopt to lately weld a method and weld a craft.Among them, Gao power laser Han and agitation rub Han etc. to have to develop a potential most .Therefore, robot and Gao power laser Han and agitation rub combining of Han to become inevitable trend.Be like the public in Shanghai to wait domestic to most have the car manufacturer of real strenght in fact at their new car type manufacturing process in have already in great quantities used robot laser to weld.
Give or get an electric shock Hu Han to compare with robot, robot laser the Han of the Han sews to follow accuracy to have higher request.According to the general request, the robot gives or gets an electric shock the Han of Hu Han(include GTAW and GMAW) to sew to follow accuracy to control in 1| of the electrode or the Han silk diameter 2 in, at have the condition that fill the silk under the Han sew to follow accuracy to loosen appropriately.But to laser Han, the laser projects light upon the light spot in the work piece surface while welding diameter usually at 0.6 in, is farer small than Han silk diameter(be usually bigger than 1.0), but the laser weld usually and not add to fill Han silk, therefore, the laser is welding if only the spot position has a little bit deviation, then will result in to be partial to Han and leak Han.Therefore, the robot laser of the public in Shanghai's car car crest Han in addition to pack in the work tongs up adopt measure to prevent from welding to transform, still just the robot laser Han gun front installed the high accuracy laser of SCOUT company in Germany to spread a feeling machine to used for Han to sew a following of track.
The structure form of industrial robot is a lot of, in common usely have right angle to sit mark type, flexible type, and crawl along type...etc. by mark type, many joints by mark type, surface of sphere by mark type, pillar noodles, according to different use still at continuously development in.It is many robots of joint types of the mimicry person's arm function to weld what robot can adopt a different structure form according to the applied situation of dissimilarity, but use at most currently, this because the arm vivid of many joint type robots is the biggest, it can make space position and carriage of Han gun adjust into arbitrarily the status weld by satisfying a demand.Theoretically speak, the joint of robot is many more, the freedom degree is also many more, the joint redundancy degree is big more, and the vivid is good more;But also go against the sitting of kinetics control of marking the transformation and each joint position for robot to bring complexity at the same time.Because weld to usually need in the process with the space right angle sit to mark the Han on the representative work piece to sew position conversion for the Han gun carry the space position and carriage of department and pass robot again go against the kinetics compute a conversion for to the control of robot each joint angle position, but the solution of this transformation process usually isn't unique, the redundancy degree is big, solve more many more.How select by examinations the steady that the quite the cheese solution welds to exercise in the process to the robot very important.Different treatment of system to this problem of the robot control doesn't exert a homology.
Is general to come to speak, have 6 controls request of positions and space carriages that the robots of joints basically can satisfy a Han gun, 3 among those freedoms degree(XYZ) space position used for controling a Han gun to carry a department, another 3 freedom degrees(ABC) are used for the space carriage that controls a Han gun.Therefore, currently weld robot majority as 6 joint types.
For some weld situation, work piece because of leading big or the space is several what the shape is too complicated, make the Han gun of welding the robot can not arrive appointed Han to sew position or Han gun carriage, have to pass the freedom degree of the way increment robot of increasing 1~3 exterior stalks at this time.Usually have two kinds of way of doings:One is the orbit that the robot Be packed to to move small car or Dragon gate up, the homework space of extension robot;Two is to let the work piece move or turn, make work piece up of weld the homework space that the part gets into robot.Also have of adopt two kinds of above-mentioned ways at the same time, let the welding of work piece part and robots all be placed in the best weld position.
Weld the plait distance of robot method currently still with on-line show and teach a way(Teach-in) is lord, but wove the interface ratio of distance machine to have many improvements in the past, particularly is the adoption of LCD sketch monitor and make and weld the plait distance of the robot interface lately gradually friendly, operation more easy.However robot plait distance Han's sewing the key point on the track to sit to mark position still have to pass to show to teach the way how to obtain, then deposit the sport instruction of procedure.This sews track to some Hans of complicated shapes to say, have to cost a great deal of time to show to teach and lowered the use efficiency of robot thus and also increased the labor strength of weaving the distance personnel.The method that solves currently includes 2 kinds:
One is show to teach a plait distance just rough obtain a few Hans to sew a few keys on the track to order, then spread a feeling machine(usually is give or get an electric shock Hu to spread feeling machine or laser sense of vision to spread a feeling machine) through the sense of vision of welding the robot of auto follow the actual Han sew a track.Although this way still cans not get away from to show to teach a plait distance,this way cans ease to show the strength of teaching the plait distance to some extent and raises to weave a distance efficiency.But because of the characteristics of electricity Hu Han, the sense of vision of robot spreads a feeling machine be not sew forms to all apply to all Hans.
Two is the way that adopts a completely off-line plait distance, make the robot weld drawing up of procedure and Han to sew a track to sit to mark adjusting of obtaining of position, and procedure to try all to compute in a set to independently complete on board, don't need participation of robot.Robot off-line plait distance as early as several years ago have, just in order to being subjected to restriction of the calculator function at that time, off-line plait distance software with text originally way is lord, wove a distance member to need to acquaint with the all instruction systems and phrasing of robot, also needed to know how made sure that the space position that the Han sews a track sits a mark, therefore, wove a distance work to not and easily save time.Along with exaltation and calculator of the calculator function 3D sketch technical development, present robot off-line plait distance system majority can under the 3D sketch environment movement, the plait distance interface amity, convenience, and, obtaining Han to sew a sitting of track to mark position usually can adopt the way of "conjecture show to teach"(virtual Teach-in), using a mouse to easily click the welding of work piece in the 3D virtual environment the part can immediately the space acquiring the sit a mark;In some systems, can sew directly born Han of position to sew a track through the Han that define in advance in the CAD sketch document, then the automatically born robot procedure combines to download robot to control system.Thus and consumedly raised the plait distance of the robot efficiency, also eased the labor strength of weaving the distance member.Currently, it is international to there have been using an off-line plait distance of robot according to the company of common PC machine on the market software.It is like Workspace5, and RobotStudio...etc..Figure 9 show develop by oneself for t
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