Difference between revisions of "Palletizing Robot/zh-hans"

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(Created page with "{{Languages}} =Palletizing Robot = 700px<br> == Robot Model == 700px<br> Palletizing robot in ABOVE elbow configuration ==C...")
 
 
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{{Languages}}
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{{Languages|Palletizing_Robot}}
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=Palletizing Robot =
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=码垛机器人 =
  
 
[[File:PALROB0.PNG | 700px]]<br>
 
[[File:PALROB0.PNG | 700px]]<br>
  
  
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== Robot Model ==
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== 机器人模型 ==
  
 
[[File:PALROB1.PNG | 700px]]<br>
 
[[File:PALROB1.PNG | 700px]]<br>
  
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Palletizing robot in ABOVE elbow configuration
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码垛机器人在肘部配置
  
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==Coupling==  
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==耦合==  
  
  
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In palletizing robot  family there is a mechanical coupling between axes 2 and 3. The coupling matrix of the robot is defined by:
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在码垛机器人系列中，轴2和轴3之间存在机械耦合。机器人的耦合矩阵定义为:
 
<math>
 
<math>
 
C = \begin{bmatrix}
 
C = \begin{bmatrix}
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==Geometric parameters==
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==几何参数==
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For palletizing  robot family geometrical parameters are defined by:
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对于码垛机器人系列几何参数定义为:
  
 
{| style="border-spacing:0;" border = 1
 
{| style="border-spacing:0;" border = 1
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| style="border-top:0.0069in solid #000000;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>DH parameter</center>
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| style="border-top:0.0069in solid #000000;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>DH 参数</center>
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| style="border-top:0.0069in solid #000000;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>MC-Basic property name</center>
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| style="border-top:0.0069in solid #000000;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>MC-Basic属性名称</center>
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| style="border:0.0069in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>Value in mm</center>
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| style="border:0.0069in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>值（mm）</center>
 
|-
 
|-
 
| style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>a1</center>
 
| style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>a1</center>
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|}
 
|}
 
<br>
 
<br>
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The above parameters of '''link''' matrix property of the robot must be filled-in in the robot’s setup file. In order that the system accepts the above setup the “'''configgroup'''” command must be executed. Note that only the above set of parameters affects the robot geometry, the rest of the '''''<nowiki>link[][]</nowiki>''''' and '''''<nowiki>axis[][] </nowiki>'''''values do not influence the robot geometry in any way and are not affected (changed) by '''configgroup''' command or any other robot command.
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机器人的'''连杆'''矩阵属性的上述参数必须填写在机器人的设置文件中。为了使系统接受上述设置，必须执行“configgroup”命令。请注意，只有上述参数集才会影响机器人几何形状。''''<nowiki>link[][]</nowiki>''''' 和 '''''<nowiki>axis[][] </nowiki>'''''的其余部分不会以任何方式影响机器人几何形状，并且不受'''configgroup'''命令或任何机器人命令的影响。
  
  
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The rest of the DH parameters are predefined as follow and are automatically internally set by choosing the right group model.
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DH参数的其余部分预先定义如下，并通过选择正确的组模型自动内部设置。
  
  
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== Configuration ==
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== 配置 ==
  
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Elbow configuration flag is defined by:<br>
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肘配置标志由下式定义:<br>
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* ABOVE - arm with respect to the shoulder coordinate system has negative coordinate value along the Y axis of the second segment<br>
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* ABOVE - 相对于肩坐标系的臂具有沿着第二段的Y轴的负坐标值<br>
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* BELOW - arm with respect to the shoulder coordinate system has  positive coordinate value along the Y axis of the second segment<br>
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* BELOW - 相对于肩坐标系的臂具有沿着第二段的Y轴的正坐标值<br>
  
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See: [[MC-Basic:robot.ELBOWCMD | ELBOWCMD]]
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参考: [[MC-Basic:robot.ELBOWCMD | ELBOWCMD]]

Latest revision as of 08:27, 29 May 2017

语言: English  • 中文（简体）‎

码垛机器人

PALROB0.PNG


机器人模型

PALROB1.PNG

码垛机器人在肘部配置

耦合

在码垛机器人系列中，轴2和轴3之间存在机械耦合。机器人的耦合矩阵定义为:

PALROB2.PNG


几何参数

对于码垛机器人系列几何参数定义为:

DH 参数
MC-Basic属性名称
值（mm）
a1
<robot >.link[1][1]
300
d2
<robot >.link[1][3]
334.5
a2
< robot >.link[3][1]
1280
a3
< robot >.link[4][1]
1350
a4
< robot >.link[5][1]
260
d5
< robot >.link[6][3]
-247


机器人的连杆矩阵属性的上述参数必须填写在机器人的设置文件中。为了使系统接受上述设置，必须执行“configgroup”命令。请注意，只有上述参数集才会影响机器人几何形状。'link[][] 和 axis[][] 的其余部分不会以任何方式影响机器人几何形状，并且不受configgroup命令或任何机器人命令的影响。


DH参数的其余部分预先定义如下，并通过选择正确的组模型自动内部设置。


配置

肘配置标志由下式定义:

  • ABOVE - 相对于肩坐标系的臂具有沿着第二段的Y轴的负坐标值
  • BELOW - 相对于肩坐标系的臂具有沿着第二段的Y轴的正坐标值

参考: ELBOWCMD

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