引用本文: 刘成良, 张为公, 翟羽健, 李晓. RV12L6R焊接机器人运动学及计算机仿真系统研究[J]. 机器人, 1998, 20(5): 333-341.
LIU Chengliang, ZHANG Weigong, ZHAI Yujian, LI Xiao. STUDY ON KINEMATICS AND COMPUTER SIMULATION OF RV12L 6R WELDING ROBOT WORKSPACE[J]. ROBOT, 1998, 20(5): 333-341.
 Citation: LIU Chengliang, ZHANG Weigong, ZHAI Yujian, LI Xiao. STUDY ON KINEMATICS AND COMPUTER SIMULATION OF RV12L 6R WELDING ROBOT WORKSPACE[J]. ROBOT, 1998, 20(5): 333-341.

## STUDY ON KINEMATICS AND COMPUTER SIMULATION OF RV12L 6R WELDING ROBOT WORKSPACE

• 摘要: 本机器人仿真系统是为焊接IVECO汽车横梁而研制的，本文在对RV12L6R焊接机器人结构分析的基础上，建立了运动学模型，并给出了运动学正解、逆解．从图形学的角度，对机器人工作空间实施三维图形仿真，并用三维造型技术集机械手、转位工作台、工件三位一体，来表示机械手复杂的位置、姿态信息．解决了目前国内外学者对机器人运动学仿真系统的研究主要集中在运动学算法1～5及简单的二维图形仿真研究上8～15的问题，这里提供了一套通用的方法，同时为转位工作台的设计安装提供了依据．最后在运动学解的结果基础上，给出了横梁焊接示例程序；本系统已成功的应用于IVECO横梁焊接．

Abstract: This robot simulation system is developed for the beam welding in IVECO car.The kinematic model of RV12l 6R robot is built.The forward and inverse solutions are also given.The 3D graphic simulation of the robot workspace is made. The complex informations of the robot hand positions and poses are expressed by integration of robot hand 、rotate platform and workpiece using 3D modeling technique while the researchs of robot simunation system of many scholars are mainly concentrated on the algorithnm and 2D graphic simulation.It also provides a way for the design of rotate platform.The programming example of crossbeam welding is made.The system has been successfully used in the crossbeam welding on IVECO car.

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