基于6-SPU并联机构的飞机壁板铆接机器人逆运动学分析  

Configuration Design and Inverse Kinematics Analysis of 6-SPU Parallel Robot

作　　者：刘文彩 许勇[1] 陈佳丽 赵侠飞 LIU Wencai;XU Yong;CHEN JialiI;ZHAO Xiafei(College of Mechanical Engineering , Shanghai University of Engineering Science, shanghai 201620, China;College of Materials Engineering, Shanghai University of Engineering Science, shanghai 201620, China)

机构地区：[1]上海工程技术大学机械工程学院,上海201620 [2]上海工程技术大学材料工程学院,上海201620

出　　处：《机械设计与研究》2018年第2期76-80,89,共6页Machine Design And Research

基　　金：上海工程技术大学研究生科研创新项目(E3-0903-17-01019)资助

摘　　要：针对飞机壁板等大型结构件曲面铆孔需求,提出了含闭环支链的6-SPU步行式铆孔机器人及其低副等效支链构型。基于提出的铆枪法向调姿方法和闭环矢量链法,建立了机器人机构逆运动学模型,采用数值搜索方法得到了机构的可达空间,分析了工作空间体积及形状的变化规律,并通过数值仿真算例验证了文中提出的构型和逆运动学模型的合理性。该研究工作可望为面向大型结构件加工的移动式加工平台的工程设计奠定理论基础。In this paper,a new type of walking robot is designed and the kinematics analysis method is proposed for the efficient processing of large structural parts such as aircraft. In this paper,the 6-SPU parallel mechanism with closed-loop branching is proposed and the low-side equivalent branch is easy to walk. The inverse kinematics model of the mechanism is established based on the closed-loop vector chain method. Based on the kinematic rotation and the driving force,the Jacobi matrix is deduced. The mechanism of the inverse velocity of the mechanism is established.The reachable workspace of the mechanism is obtained by numerical method,and the change regulation of volume and shape of workspace is analyzed. What＇s more,a numerical example is given to demonstrate the rationality of the proposed model and the inverse kinematics model. The research work in this paper is expected to lay a theoretical foundation for further research on the mobile processing platform for large structural parts.

关 键 词：并联机器人 构型设计 逆运动学 曲面铆接 工作空间 

分 类 号：TH122[机械工程—机械设计及理论]