《GBT16977-2005-工业机器人坐标系和运动命名原则》.pdf

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1、ICS25.040.30J28r中华人民共和国国家标准GB/T16977-2005/ISO9787:1999代替GB/T16977-1997工业机器人坐标系和运动命名原则Industrialrobots-Coordinatesystemsandmotionnomenclatures(ISO9787:1999,Manipulatingindustrialrobots-Coordinatesystemsandmotionnomenclatures,IDT)2005-07-29发布2006-02-01实施中华人民共和国国家质量监督检验检疫总局发布中国国家标准化管理委员会GB

2、/T16977-2005/ISO9787:1999目次前言········，，··········，··························································，···········，······················⋯⋯m引言·......................................................................................................................IV1范围·············，·

3、··········，，，，··········，················。·····，。···············································⋯⋯12规范性引用文件·························································....·····⋯⋯，······.....·····......⋯⋯13术语和定义····························，，··................................................

4、....................⋯14坐标系和旋转运动的定义。··‘·······，························，··········.，····⋯⋯，.‘·..⋯⋯“.......⋯⋯15绝对坐标系······························.·············································，·······················⋯⋯26机座坐标系，.·····，···················，·········，，···········甲价44··········

5、，，‘······，·····，，⋯⋯37机械接口坐标系·····································································...········...·······...·.⋯⋯48工具坐标系·..............................······································································⋯⋯49机器人运动·············································

6、······················································，··⋯⋯410机器人轴的命名原则········································································......·.......⋯⋯5附录A(资料性附录)各种机械结构类型机器人的应用示例·············，，..........................6GB/T16977-2005/ISO9787:1999B1i言本标准等同采用ISO9787:1999《操作型工业机器人

7、坐标系和运动命名原则》(英文版)。本标准等同翻译ISO9787:1999,为便于使用，本标准做了以下编辑性修改:a)为了与现有的系列标准一致，标准名称改为“工业机器人坐标系和运动命名原则”;b)用“本标准”代替“本国际标准，’;c)删除了“ISO9787:1999-的前言;d)本标准将引用标准更改为本国标准。本标准自实施之日起代替GB/T16977-19970本标准是对GB/T16977-1997的修订，与GB/T16977-1997版相比，删除了原第七章“关节坐标系”。本标准的附录A为资料性附录。本标准由中国机械工业联合会提出。本标准由全国工业自动