日本一卡二卡四卡无卡乱码视频免费,国产女人aaa级久久久级,亚洲国产在一区二区三区,性色av免费网站

泰安揚(yáng)帆數(shù)控科技有限公司為您提供等相關(guān)信息發(fā)布和資訊展示,敬請關(guān)注!
咨詢服務(wù)熱線:
13345281377

新聞資訊

產(chǎn)品

行業(yè)新聞

焊接機(jī)器人按結(jié)構(gòu)坐標(biāo)系分為幾類?

來源:http://niuniury.com/  發(fā)布時間:2021-07-28 瀏覽次數(shù):0

1)直角坐標(biāo)型這類機(jī)器人的結(jié)構(gòu)和控制方案與機(jī)床類似,其到達(dá)空間位置的三個運(yùn)動(x、y、z)是由直線運(yùn)動構(gòu)成,這種形式的機(jī)器人優(yōu)點(diǎn)是運(yùn)動學(xué)模型簡單,各軸線位移分辨率在操作容積內(nèi)任一點(diǎn)上均為恒定,控制精度容易提高;缺點(diǎn)是機(jī)構(gòu)龐大,工作空間小,操作靈活性較差。簡易和專用焊接機(jī)器人常采用這種形式。

1) The structure and control scheme of the Cartesian coordinate type robot is similar to that of the machine tool. Its three motions (x, y and z) reaching the spatial position are composed of linear motion. The advantages of this type of robot are that the kinematic model is simple, the displacement resolution of each axis is constant at any point in the operating volume, and the control accuracy is easy to be improved; The disadvantage is that the mechanism is huge, the working space is small, and the operation flexibility is poor. This form is often used by simple and special welding robots.
2)圓柱坐標(biāo)型這類機(jī)器人在基座水平轉(zhuǎn)臺上裝有立柱,水平臂可沿立柱作上下運(yùn)動并可在水平方向伸縮。這種結(jié)構(gòu)方案的優(yōu)點(diǎn)是末端操作可獲得較高速度,缺點(diǎn)是末端操作器外伸離開立柱軸心愈遠(yuǎn),其線位移分辨精度愈低。
2) The cylindrical coordinate robot is equipped with a column on the base horizontal turntable, and the horizontal arm can move up and down along the column and retract in the horizontal direction. The advantage of this structural scheme is that the end operator can obtain high speed, but the disadvantage is that the farther the end operator extends away from the axis of the column, the lower the linear displacement resolution accuracy.
3)球坐標(biāo)型與圓柱坐標(biāo)結(jié)構(gòu)相比較,這種結(jié)構(gòu)形式更為靈活。但采用同一分辨率的碼盤檢測角位移時,伸縮關(guān)節(jié)的線位移分辨率恒定,但轉(zhuǎn)動關(guān)節(jié)反映在末端操作器上的線位移分辨率則是個變量,增加了控制系統(tǒng)的復(fù)雜性。
3) Compared with cylindrical coordinate structure, spherical coordinate structure is more flexible. However, when the code disk with the same resolution is used to detect the angular displacement, the linear displacement resolution of the telescopic joint is constant, but the linear displacement resolution of the rotating joint reflected on the end operator is a variable, which increases the complexity of the control system.
4)全關(guān)節(jié)型全關(guān)節(jié)型機(jī)器人的結(jié)構(gòu)類似人的腰部和手部,其位置和姿態(tài)全部由旋轉(zhuǎn)運(yùn)動實(shí)現(xiàn),其優(yōu)點(diǎn)是機(jī)構(gòu)緊湊,靈活性好,占地面積小,工作空間大,可獲得較高的末端操作器線速度;其缺點(diǎn)是運(yùn)動學(xué)模型復(fù)雜,高精度控制難度大,空間線位移分辨率取決于機(jī)器人手臂的位姿。
4) The structure of all joint robot is similar to human waist and hand. Its position and posture are realized by rotary motion. Its advantages are compact mechanism, good flexibility, small floor area, large workspace and high linear speed of end manipulator; Its disadvantage is that the kinematic model is complex, high-precision control is difficult, and the spatial linear displacement resolution depends on the pose of the robot arm.

上一篇:自動焊接機(jī)器人可以應(yīng)用到哪些行業(yè)?
下一篇:焊接變位機(jī)的卡盤應(yīng)該如何進(jìn)行維護(hù)?

97国产精华最好的产品| 国产偷国产偷亚洲清高| 亚洲AV无码专区在线观看亚| 中文AV人妻AV无码中文| 国产精品亚洲а∨无码播放不卡| 无码色偷偷亚洲国内自拍| 无码人妻一区二区免费AV| 中文字幕理伦午夜福利片| 又粗又大又硬又爽的少妇毛片 | 老师在办公室被躁在线观看| 国产精品天干天干综合网| 国产成人精品无码免费看| 中国少妇内射XXXX狠干| 国产午夜成人久久无码一区二区 | 熟妇无码乱子成人精品| 色噜噜狠狠成人中文综合| 性荡视频播放在线视频| 日本强伦姧人妻一区二区| 中国少妇初尝黑人巨高清| 亚洲综合色噜噜狠狠网站超清| 精品无码午夜福利电影片| 欧美丰满熟妇乱xxxxx视频| 久久精品久久精品久久39| 色偷偷av老熟女| 少妇人妻偷人精品无码视频| 日本强伦姧人妻一区二区| 饥渴的少妇2中文字幕| 国产精品无打码在线播放| 欧美日韩在线亚洲综合国产人| 丰满人妻被黑人猛烈进入| 日本免费一区二区三区四区五区| 亚洲综合伊人久久综合| 国产99久久久久久免费看| 99精品久久久久精品双飞| 日韩精品无码成人专区| 久久午夜神器| 国产在线无码一区二区三区视频| 无码av动漫精品一区二区免费| 亚洲日韩av无码一区二区三区人| 成年女人片免费视频播放A| 亚洲日韩中文第一精品|