5-DOF混联机器人设计与运动学分析  

Design and Kinematic Analysis of 5-DOF Hybrid Robots

作　　者：李岸 杨雪 LI An;YANG Xue(School of Mechanical Engineering,Shenyang University of Technology,Shengyang 110870,China)

机构地区：[1]沈阳工业大学机械工程学院,沈阳110870

出　　处：《组合机床与自动化加工技术》2024年第5期51-54,59,共5页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：针对现有2R1T并联机构并不能很好地满足航空航天工业制孔稳定性的问题,设计了一种全新的两转一移并联机构3SPU-PU,并基于此并联机构设计了2-DOF转头,构造了5-DOF混联机器人,可用于某型飞机座舱盖制孔。首先,利用修正的G-K公式计算了3SPU-PU并联机构的自由度;其次,利用子结构综合的方法对所设计的五自由度混联机器人进行了逆运动学分析;运用ADAMS仿真分析与MATLAB理论计算对运动学分析理论模型进行了验证;最后,利用有限元分析方法对混联机器人进行了静力学分析。结果表明,所设计的混联机器人刚度大、质量轻,能更好地满足制孔稳定性的需求,研究结果也为混联机器人的样机研制、动力学分析及实时控制打下了理论基础。Aiming at the problem that the existing 2R1T parallel mechanism does not satisfy the stability of hole making in the aerospace industry well,a new two-turn-one-transfer parallel mechanism,3SPU-PU,is designed,and based on which a 2-DOF rotary head is designed,a 5-DOF hybrid robot is constructed,which can be used for a certain type of aircraft cockpit cover hole making.Firstly,the degrees of freedom of the 3SPU-PU parallel mechanism are calculated using the modified G-K formula;secondly,the inverse kinematic analysis of the designed five-degree-of-freedom hybrid robot is carried out using the method of substructure synthesis;the theoretical model of the kinematic analysis is verified using ADAMS simulation analysis and MATLAB theoretical calculation;finally,the static analysis of the hybrid robot is carried out using the method of finite element analysis.Finally,the static analysis of the hybrid robot was carried out by using finite element analysis.The results show that the designed hybrid robot has large stiffness and light weight,which can better meet the needs of hole making stability,and the results also lay a theoretical foundation for the development of prototype,dynamics analysis and real-time control of hybrid robot.

关 键 词：3SPU-PU并联机构 运动学分析 自由度 有限元分析 

分 类 号：TH112[机械工程—机械设计及理论] TG659[金属学及工艺—金属切削加工及机床]