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

2、检验检疫总局发布中国国家标准化管理委员会GB/T16977-2005/ISO9787:1999目次前言········，，··········，··························································，···········，······················⋯⋯m引言·..............................................................................................

3、.........................IV1范围·············，···········，，，，··········，················。·····，。···············································⋯⋯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······························..·············································，······

5、·················⋯⋯26机座坐标系，.·····，···················，·········，，···········甲价44··········，，‘······，·····，，⋯⋯37机械接口坐标系·····································································...········...·······...·.⋯⋯48工具坐标系·..............................············

6、··························································⋯⋯49机器人运动···································································································，··⋯⋯410机器人轴的命名原则········································································......·...

7、....⋯⋯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·············，，...........................6标准分享网www.bzfxw.com免费下载GB/T16977-2005/ISO9787:1999B1i言本标准等同采用ISO9787:1999《操作型工业机器人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

8、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