新型全液压重载锻造机器人机构设计及分析  

Mechanism Design and Analysis of a Novel Hydraulic Driving Heavy Load Forging Robot

作　　者：李阁强[1] 王帅[1] 邓效忠[1] 周斌[2] 

机构地区：[1]河南科技大学,洛阳471003 [2]安阳锻压机械工业有限公司,安阳455000

出　　处：《中国机械工程》2016年第9期1168-1175,共8页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(51175148);河南省高等学校重点科研项目(15A460001)

摘　　要：针对全液压重载锻造机器人载荷大、搬运速度快和定位精度高的特点提出了一种新型机构方案,该方案能够实现车身回转、夹钳伸缩、夹钳升降、夹钳回转和钳头夹紧五个自由度的运动,其运动主体为一种混联机构,由三组平行四边形连杆机构构成,采用三组液压缸并联驱动,可有效增大机器人工作空间,使负载分配合理,易于控制。建立了运动学和动力学模型,采用正弦曲线将机器人夹钳末端的位移规划为直线运动,在MATLAB中求解出机器人的工作空间,得到了直线运动下各组液压缸的位移和驱动力变化曲线,验证了该模型的正确性和机构的合理性,为重载锻造机器人机构设计提供了一种解决方案。This paper put forward a new mechanism project aiming at the characteristics of large load,fast moving speed and high positioning precision of a hydraulic driving heavy load forging robot. The scheme might realize 5-DOF motion,which contained body walking,body rotation,clamp expansion,clamp lifting,clamp rotation and clamp gripping. The main body of the movement was a kind of hybrid mechanism,which was composed of three groups of parallelogram mechanism,it was driven by three groups of hydraulic cylinders in parallel. This scheme might increase the working space of the robot effectively,making the load allocation reasonable and be easy to control. Kinematics and dynamics model were established,the motion planning of the robot clamp was based on sine curve,the change curves of displacement and driving force of each hydraulic cylinder were obtained in MATLAB. The correctness of the model and the rationality of the mechanism were verified,the scheme provides a solution for the design of heavy load forging robot mechanism.

关 键 词：新型重载锻造机器人 运动学分析 工作空间 动力学分析 

分 类 号：TH11[机械工程—机械设计及理论] TH13