多臂机提综臂辅助旋铆并联机器人优化设计  

Optimal design of assisting-riveting parallel robot for lifting arm of dobby loom

作　　者：梁栋[1,2] 梁正宇[1] 畅博彦 齐杨[3] 徐振宇 LIANG Dong;LIANG Zheng-yu;CHANG Bo-yan;QI Yang;XU Zhen-yu(School of Mechanical Engineering,Tiangong University,Tianjin 300387,China;Tianjin Key Laboratory of Modern Electromechanical Equipment Technology,Tiangong University,Tianjin 300387,China;School of Mechanical Engineering,Tianjin University of Technology and Education,Tianjin 300222,China;Jiangu Jinlong Technology Co.,Ltd.,Suzhou 215500,China)

机构地区：[1]天津工业大学机械工程学院,天津300387 [2]天津工业大学天津市现代机电装备技术重点实验室,天津300387 [3]天津职业技术师范大学机械工程学院,天津300222 [4]江苏金龙科技股份有限公司,江苏苏州215500

出　　处：《工程设计学报》2022年第1期28-40,共13页Chinese Journal of Engineering Design

基　　金：国家自然科学基金资助项目(52005368,51905378);天津市自然科学基金资助项目(17JCQNJC03900);天津市教委科研基金资助项目(2019KJ012)。

摘　　要：提综臂是多臂机上实现凸轮开口运动的关键核心部件。为满足多臂机提综臂的自动化加工需求,设计了一种新型辅助旋铆并联机器人,以实现在提综臂旋铆加工过程中对零部件的高速、高精度抓取和摆放,显著提升生产效率和保证加工质量。首先,介绍了新型辅助旋铆并联机器人机构的拓扑结构特征,并结合旋量理论及修正的G-K(Grübler-Kutzbach)公式分析了其自由度类型及数量。然后,构建了该机器人机构的位置闭环矢量方程,推导了其位置正、逆解的解析表达式,进而通过求导法建立了速度和加速度映射模型。接着,为有效评价机器人机构的运动传递性能,基于运动雅可比矩阵条件数的全域均值及波动量,定义了全域综合性能指标;同时,结合虎克铰的空间结构特点,全面考虑杆件干涉以及机构的传动性能和结构紧凑性,综合得到各类转角和杆长的约束条件,进而建立了该机器人的尺度综合模型。在此基础上,借助粒子群优化(particle swarm optimization,PSO)算法进行优化求解,得到了机器人的最优尺度参数,并据此建立了机器人的三维虚拟样机模型。最后,针对多臂机提综臂辅助旋铆作业的工程需求,借助多体仿真软件开展机器人虚拟仿真验证。结果表明,优化后的辅助旋铆并联机器人的综合性能优异,满足工程应用需求。研究结果为多臂机提综臂的自动化加工提供了一种有效的解决方案,并为辅助旋铆机器人的实体样机制造及实验研究奠定了理论基础。The lifting arm is the key component for realizing the cam opening movement on the dobby loom.In order to meet the requirements of automatic manufacture for the lifting arm of dobby loom,a novel assisting-riveting parallel robot is design to achieve the high-speed and high-precision grasping and placing of parts and components during the riveting process of the lifting arm,so as to significantly improve the production efficiency and ensure the processing quality.Firstly,the topological structure characteristics of the novel assisting-riveting parallel robot mechanism were introduced,and the type and number of the degree of freedom of robot mechanism were analyzed by combining the screw theory and the modified G-K(Grübler-Kutzbach)formulation.Secondly,the position closed-loop vector equations of this robot mechanism were established,and the analytical expressions of forward and inverse position solutions were derived.The velocity and acceleration mapping models were established by the derivation method.Thirdly,in order to effectively evaluate the kinematic transmission performance of this robot mechanism,the global comprehensive performance indices were defined based on the global mean value and fluctuation of condition number of the kinematic Jacobian matrix;at the same time,combined with the spatial structure characteristics of hook joint,considering the rod interference and the transmission performance and structural compactness of the mechanism,the constraints of various angles and rod lengths were obtained,and the dimensional synthesis model of this robot was established.On this basis,the optimal dimensional parameters of robot were obtained by means of the particle swarm optimization(PSO)algorithm for optimization and solution,and then the three-dimensional virtual prototype model of the robot was established.Finally,in view of the engineering requirements of the assisting-riveting operation for the dobby loom lifting arm,the virtual simulation verification for the robot was carried out by means of the mult

关 键 词：辅助旋铆 并联机器人 旋量理论 粒子群优化算法 尺度综合 

分 类 号：TH112[机械工程—机械设计及理论]