大型复杂构件加工机器人的本体设计与工作空间分析

覃哲; 宋小辉; 涂文斌

doi:10.16578/j.issn.1004.2539.2023.10.010

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大型复杂构件加工机器人的本体设计与工作空间分析

设计计算 | 更新时间：2023-10-09

- 大型复杂构件加工机器人的本体设计与工作空间分析
- Ontology Design and Workspace Analysis of Large Complex Component Processing Robots
- 机械传动 2023年47卷第10期页码：69-78
- 作者机构：
  
  桂林航天工业学院机电工程学院，广西桂林 541004
- 作者简介：
  
  覃哲（1993— ），男，广西玉林人，硕士，讲师；主要研究方向为机构学与机器人，先进制造装备；tryourbestto@163.com。
- 基金信息：
  
  桂林航天工业学院校级基金项目(XJ21KT30)
- DOI：10.16578/j.issn.1004.2539.2023.10.010
  中图分类号：
- 纸质出版日期：2023-10-15，
  
  收稿日期：2022-07-28，
  
  修回日期：2022-09-25，
扫描看全文
覃哲,宋小辉,涂文斌.大型复杂构件加工机器人的本体设计与工作空间分析[J].机械传动,2023,47(10):69-78.

Qin Zhe,Song Xiaohui,Tu Wenbin.Ontology Design and Workspace Analysis of Large Complex Component Processing Robots[J].Journal of Mechanical Transmission,2023,47(10):69-78.
覃哲,宋小辉,涂文斌.大型复杂构件加工机器人的本体设计与工作空间分析[J].机械传动,2023,47(10):69-78. DOI： 10.16578/j.issn.1004.2539.2023.10.010.

Qin Zhe,Song Xiaohui,Tu Wenbin.Ontology Design and Workspace Analysis of Large Complex Component Processing Robots[J].Journal of Mechanical Transmission,2023,47(10):69-78. DOI： 10.16578/j.issn.1004.2539.2023.10.010.

摘要

大型复杂构件是航天、轨道交通、能源、船舶等领域装备的核心结构件，具有尺寸大、形状复杂、加工精度要求高等特点。目前，能克服龙门设备成本高、柔性和适应性不强等缺陷的机器人化加工系统成为大型复杂构件加工的利器。但现有的机器人化加工系统本体性能存在工作空间小、负载能力弱等问题。因此，提出了一种可作为大型复杂构件加工机器人核心本体的混联机构。该混联机构包括1个执行加工任务的串联机械手和1个6-UPS并联机构；借助6个驱动杆驱动的6-UPS并联机构一方面用于支撑串联机械手并调控其位置，另一方面用于驱动以混联机构为本体的机器人行走，从而实现机器人的机动和工作空间的拓展。进行了串联机械手部分、6-UPS并联机构部分、整个混联机构的运动学建模和工作空间求解，证明整个混联机构的工作空间显著大于串联机械手部分的工作空间和6-UPS并联机构部分的工作空间；以提出的混联机构作为机器人本体，设计出机器人虚拟样机，通过在三维软件中实现机器人虚拟样机的步态行走，证明所设计的机器人可以借助行走功能进一步拓展工作空间。

Abstract

Large complex components are the core structural components of equipment in the fields of aerospace

energy

ships

etc. Such components have large sizes

complex shapes

and high processing accuracy requirements. Nowadays

robotized processing systems can overcome the shortcomings of high cost

poor flexibility of the gantry equipment

which have become a powerful tool for processing large complex components. However

the ontology performance of the existing robotized processing system still has problems such as small workspace and weak load capacity

so a hybrid mechanism that can be used as the core ontology of a large complex component processing robot is proposed in this study. The hybrid mechanism consists of a series of manipulators for processing tasks and a 6-UPS parallel mechanism. The 6-UPS parallel mechanism

driven by six drive rods

is used to support the series manipulator and regulate its position and pose on the one hand

and drive the robot to travel with the hybrid mechanism as the ontology on the other hand. The kinematics modeling and workspace solutions of the serial manipulator

6-UPS parallel mechanism and the whole hybrid mechanism are completed in this study and it is proved that the workspace of the whole hybrid mechanism is significantly larger than that of the serial manipulator and the 6-UPS parallel mechanism. The virtual prototype of the robot is designed with the proposed hybrid mechanism as the robot ontology. By realizing the gait walking of the virtual prototype in a three-dimensional software

it is proved that the designed robot can further expand the workspace using a walking function.

关键词

大型复杂构件加工机器人本体设计工作空间

Keywords

Large complex componentProcessing robotOntology designWorkspace

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