CAJ | 학술논문

齿轮精整是利用数控精整冲床去除齿轮上毛刺以提高齿轮精度的一道工序，该工序需要将齿轮放置在冲床工作台的指定位置，且具有较高的定位精度。为了实现生产的自动化，提高生产效率，减少因人工疲劳所导致的危险事故，设计了一种齿轮抓取机械手来代替人工完成齿轮的放置并保证定位精度。分析了机械手各个运动构件与末端执行器在空间的位置关系，利用D-H法建立了机械手的坐标系，并在连杆坐标系简图的基础上，利用齐次坐标变换对机械手进行运动学建模。为机械手的运动规划和控制奠定基础。
치륜정정시이용수공정정충상거제치륜상모자이제고치륜정도적일도공서，해공서수요장치륜방치재충상공작태적지정위치，차구유교고적정위정도。위료실현생산적자동화，제고생산효솔，감소인인공피로소도치적위험사고，설계료일충치륜조취궤계수래대체인공완성치륜적방치병보증정위정도。분석료궤계수각개운동구건여말단집행기재공간적위치관계，이용D-H법건립료궤계수적좌표계，병재련간좌표계간도적기출상，이용제차좌표변환대궤계수진행운동학건모。위궤계수적운동규화화공제전정기출。
Gear finishing is the procedure in which NC working punching machine is used to remove the gear burrs etc, but the gears need to be accurately placed at the appointed position of the punching worktable. To realize the production automation, boost pro-ductivity and reduce the accident caused by tiredness, a gear finishing robot is designed to replace workers to complete the gear pla-cing and guarantee the positioning accuracy. In order to study the dubiety between each moving elements and the hand of the robot in the space, D-H method is used to get the kinematic modeling. Based on the con-rod coordinate system sketch, the homogene-ous coordinate transformation is used to solve the positive problem of robot kinematics,which lays the foundation for the trace pro-gramming and simulation later.