一种新型的五自由度混联抛光机器人的分析  

The Analysis of a Late-model Series-parallel Polishing Robot with Five DOF

作　　者：李提伟 赵一杰 曹凯[1,2] 

机构地区：[1]常州先进制造技术研究所,江苏常州213164 [2]常州大学,江苏常州213164

出　　处：《现代机械》2013年第3期75-78,共4页Modern Machinery

摘　　要：工业生产中自由曲面的抛光打磨是自动加工过程中难以解决的问题,本文针对自由曲面的抛光打磨加工提出了五自由度混联机器人。首先根据工艺要求对抛光机器人进行了机构设计及结构分析,对抛光机器人的结构进行优化,又通过运动学分析,推导出了运动学正逆解解析公式,分析了动平台的扭角跟两个伸缩杆长度的关系和动平台的转动角速度跟伸缩杆的伸缩速度关系。再通过给定参数用Matlab绘出机构位置正解关系的曲线图,最后经计算得到了可得动平台的输出的速度,为后续样机的研制等工作奠定了基础。The polishing of free-form surface is a difficult problem in automatic machining process in industrial pro- duction, the paper puts forward a series - parallel polishing robot with five DOF for the free-from surface polishing. First- ly, according to process requirements, polishing robot mechanism design is made. Then this mechanism has been carried on the structure analysis and kinematics analysis, deducing the kinematics positive and inverse solutions, the relationship between the torsion angle of moving platform and the length of two expansion links has been analyzed, and the relationship between the angular velocity of moving platform and the length change speed of two expansion links. Then through the giv- en parameters matlab draws the graphs of the kinematics positive solution and calculates the output speed of the moving platform, which laid the foundation for further work.

关 键 词：五自由度 混联机器人 运动学 抛光 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]