基于RPR/RP+2R+P的铝合金结构件加工机器人设计  

Base on RPR/RP+2R+P robot design for machining aluminum alloy structural parts

作　　者：刘毅[1] 丰宗强 贾新裴 姚建涛[1] 赵永生[1] LIU Yi;FENG Zongqiang;JIA Xinpei;YAO Jiantao;ZHAO Yongsheng(Laboratory of Parallel Robotics and Mechatronic Systems in Hebei Province,Yanshan University,Qinhuangdao 066004,CHN)

机构地区：[1]燕山大学河北省并联机器人与机电系统实验室,河北秦皇岛066004

出　　处：《制造技术与机床》2023年第2期21-33,共13页Manufacturing Technology & Machine Tool

基　　金：中央引导地方科技发展资金项目:面向新能源汽车铝合金结构件的五自由度混联加工机器人创新设计与工程样机研发(206Z1805G);国家重点研发计划资助项目:面向航天复合材料的五自由度混联机构加工机器人(2017YFB1301901)

摘　　要：新能源汽车是我国应对节能减排挑战的需要,发展前景巨大。针对新能源汽车车身主要采用铝合金材料,要求加工机床灵巧轻便,整体刚度适中,能够实现复杂曲面的精准成形等需求,提出一种基于RPR/RP平面并联的五自由度混联机器人构型。首先,建立RPR/RP+2R+P五自由度混联机器人基本构型,分析计算混联机器人的自由度,完成五自由度混联机器人的初始样机结构设计。其次,求解并联与混联构型位置的正反解以及速度雅可比。然后,求解五自由度混联机器人的位姿空间;以分支杆驱动力为优化指标,工作空间内机构运转不干涉为约束条件,采用Adams-Matlab联合仿真定量分析各结构参数对分支驱动力的影响,以线性回归算法进行数据拟合,完成初始样机的尺度优化。最后,以混联机器人整机及其关键构件的刚度为优化指标,采用有限元分析的探究方法对五自由度混联机器人初代样机实现递进式的结构调整,对整机进行模态分析以得到机器人振动特性。在满足刚度要求的前提下,采取少分支构型降低制造成本,加工过程可视,为针对轻薄结构件加工的混联机器人设计提供了新思路。New energy vehicles are the needs of China to cope with the challenges of energy conservation and emission reduction,and have great development prospects.Aiming at the problem that aluminum alloy is mainly used in the body of new energy vehicles,which requires that the machine tool is dexterous and lightweight,the overall stiffness is moderate,and the precision forming of complex surfaces is realized,a five degree of freedom hybrid robot configuration based on RPR/RP plane parallel is proposed.Firstly,the basic configuration of RPR/RP+2R+P 5-DOF hybrid robot is established,the degree of freedom of the hybrid robot is analyzed and calculated,and the initial prototype structure design of the 5-DOF hybrid robot is completed.Secondly,the forward and inverse solutions of parallel and hybrid configuration positions and velocity Jacobian are solved.Then,the pose space of the 5-DOF hybrid robot is solved;taking the driving force of the branch rod as the optimization index,and the noninterference of the mechanism operation in the working space as the constraint condition,Adams-Matlab co-simulation was used to quantitatively analyze the influence of various structural parameters on the driving force of the branch,and the linear regression algorithm was used for data fitting to complete the scale optimization of the initial prototype.Finally,taking the stiffness of the hybrid robot and its key components as the optimization index,the finite element analysis method is used to realize the progressive structural adjustment of the initial prototype of the 5-DOF hybrid robot.The modal analysis of the whole machine is carried out to obtain the first six-order vibration characteristics of the robot.Under the premise of meeting the stiffness requirements,the new five-degree-of-freedom hybrid robot for aluminum alloy structural parts processing is beneficial to reduce the manufacturing cost and better realize the visualization of machining process.It provides a new idea for the design of hybrid robot for light and thin structural pa

关 键 词：铝合金件加工 混联机床 尺度优化 虚拟仿真 

分 类 号：TH112[机械工程—机械设计及理论]