论文部分内容阅读
针对宁波地铁类矩形断面的特点,为了满足管片拼装和自动拼装需求,设计了一种6自由度管片拼装机器人。首先,根据隧道管片形状和拼装过程,对6自由度管片拼装机器人进行创新设计;然后对其运动学特性进行分析;最后提出了三联动控制模型实现拼装的手动控制,实现了三轴联动的自动轨迹跟踪,并通过工程应用验证。应用证明:设计的6自由度拼装机器人在轨迹跟踪拼装过程平稳而高效。这对于自动管片拼装系统的研发具有重要的理论与技术价值。
According to the characteristics of rectangular section of Ningbo metro, in order to meet the needs of assembly and automatic assembling, a 6 DOF assembly robot is designed. First of all, based on the shape and assembly process of the tunnel segment, the 6-DOF tubular assembly robot is innovatively designed. Then the kinematics characteristics of the robot are analyzed. Finally, the manual control of the three-linkage control model is put forward to realize the three-axis linkage Automatic Track Tracking and Validation through Engineering Applications. Application Proof: The design of the 6-DOF robot assembly trajectory tracking assembly process stable and efficient. This is an important theoretical and technical value for the research and development of automatic pipe assembly system.