工业机器人运动学及应用研究-机电一体化专业

The research on industrial robots has become crucial in evaluating the level of automation in a country. This study delves into the application of industrial robots in production. Robot kinematics serves as the foundation for all robot movements, and this paper conducts an in-depth analysis of this aspect. The representation of robot position and orientation, as well as homogeneous coordinate transformations, are elucidated. Furthermore, the forward and inverse kinematics of robot motion are important factors influencing robot research. In practical production, industrial robots are mainly used for painting and welding. Regarding the application of industrial robots in painting, this paper utilizes Robotstudio software to simulate two IRB5400 painting robots for spraying. Through simulation, the rationality and effectiveness of program development are proven, validating the invaluable role of industrial robots in actual production. In the context of welding, the investigation into the characteristics of robot language and system composition is connected to the use of hybrid arc welding robot language. This language incorporates the necessary functions for robot motion control and welding in arc welding robots. It not only facilitates manual programming of robot operation procedures but also enables a general interface between offline programming systems, remote control systems, teach programming devices, and robot control systems. Therefore, the application of industrial robots in welding demonstrates the versatility and efficiency of these machines in enhancing production processes. Ultimately, this research sheds light on the significance of industrial robots in revolutionizing manufacturing operations and contributing to the advancement of automation technology.