| 一种用于焊接的双臂机器人系统及其工作过程 |
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| 引用本文： | 贾延龄,李璨.一种用于焊接的双臂机器人系统及其工作过程[J].济南大学学报(自然科学版),1994(2). |
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| 作者姓名： | 贾延龄 李璨 |
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| 作者单位： | 山东建材学院机械工程系，武汉工业大学 |
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| 摘 要： | 从应用工程的角度提出了用双臂机器人进行焊接作业，以提高焊接质量的观点，提出了与之相应的２Ｒ－３Ｐ２Ｒ型双臂机器人系统，建立了机械臂坐标系、工件坐标系和作业点坐标系，描述了在焊接作业过程中焊枪相对于作业点坐标系的相对位姿。
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| 关 键 词： | 机器人 双臂系统 焊接作业 |
TWO-ARM ROBOT SYSTEM USED FOR WELDING AND ITS WORKING PROCESS |
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| Jia Yanling,Li Can.TWO-ARM ROBOT SYSTEM USED FOR WELDING AND ITS WORKING PROCESS[J].Journal of Jinan University(Science & Technology),1994(2). |
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| Authors: | Jia Yanling Li Can |
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| Institution: | Jia Yanling;Li Can(Depart. of Mechanical Engineering. SIBM)(Wuhan University of Technology) |
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| Abstract: | From the angle of application engineering, this paper advances a two-arm robot used for welding operation so as to improve the guality of welding, and raises a ocrres-ponding model system 2R-3P2R of a two-arm tobot, establishes the coordinate systems of mechanical arm, working piece and word spot respectively. The positions of welding torch which is relative to work spots in the process of welding operation are also described. |
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| Keywords: | robot two-arm system welding operation |
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