小型喷浆机器人水平调姿机构的优化设计  

Optimization design of adjusting horizontal posture mechanism of the small-size shotcrete robot

作　　者：慕金伯[1] 樊炳辉[1] 陈明怀[1] 

机构地区：[1]山东科技大学机器人研究中心,山东青岛266510

出　　处：《矿山机械》2009年第1期36-38,共3页Mining & Processing Equipment

基　　金：山东省重大科枝专项项目(2006GG1108097-23)

摘　　要：小型喷浆机器人的前臂是一种平行四连杆机构,前臂在工作过程中要实现水平左右±45°的摆动。经过筛选,对其驱动装置的设计选用了液压缸驱动。液压缸工作时,在极限位置既要能达到调姿范围要求,又不能使驱动产生机械自锁;在此基础上,各部分结构应尽量紧凑,液压缸长度尽量短。为此,对前臂摆动机构采取了优化设计,并将优化结果带入仿真程序进行检验,获得了满意的结果。The forearm of the small-size shotcrete robot is a kind of parallel four-link mechanism, which has to realize the horizontal swinging in the range of plus-minus fifty degrees. After screening, the hydro cylinder drive is selected for the actuating device. When the cylinder working, the posture scope must meet the requirement and the mechanical self-locking cannot occur in the limiting position. Based on these, the structures of every part should be compact and the length of the cylinder should be short as far as possible. Therefore, the optimization design is applied to the forearm swinging organization, and the optimized result is led in the simulated program to carry out the examination. The testing shows that the design is reliable and satisfactory.

关 键 词：小型喷浆机器人 平行四连杆机构 调姿 优化设计 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]