CAJ | 학술논문

针对常见的6R型弧焊机器人，本文分析研究了其工作空间的灵活性。首先，借助服务球得到了6R型弧焊机器人的工作空间内任意点的灵活度的计算方法；然后选取了6R型弧焊机器人工作空间内三个具有代表性的点，并求解出这三点的灵活度，通过仿真得到了机器人灵活性在工作空间截面上的分布规律；最后，针对给定的平角焊任务，求解出了其定方位工作空间。结果表明，此研究对6R型弧焊机器人中的选型、尺度综合、轨迹规划和蔽障等问题具有重要的指导作用。
침대상견적6R형호한궤기인，본문분석연구료기공작공간적령활성。수선，차조복무구득도료6R형호한궤기인적공작공간내임의점적령활도적계산방법；연후선취료6R형호한궤기인공작공간내삼개구유대표성적점，병구해출저삼점적령활도，통과방진득도료궤기인령활성재공작공간절면상적분포규률；최후，침대급정적평각한임무，구해출료기정방위공작공간。결과표명，차연구대6R형호한궤기인중적선형、척도종합、궤적규화화폐장등문제구유중요적지도작용。
In view of the common 6R type arc welding robot, in this paper, its dexterity of the workspace was ana-lyzed. Firstly,by using the service sphere,the calculation method of flexibility of any point in the 6R type arc welding robot’s workspace were got. Then three representative points in the workspace of 6R type arc welding robot were se-lected,and the flexibility of three points was solved,so the distribution of robot dexterity on the section of workspace by simulating are obtained. Finally,to be given flat angle welding task,its orientation workspace was solved. The re-search plays a high guiding role in the selection,size synthesis,trajectory planning and escape of robot.