一种2R1T三自由度并联机器人的运动学分析及仿真  

Kinematic Analysis and Simulation of a 2R1T Three-degree-of-freedom Parallel Robot

作　　者：王冠泽 李岸 WANG Guanze;LI An(School of Mechanical Engineering,Shenyang University of Technology,Shenyang 110870,China)

机构地区：[1]沈阳工业大学机械工程学院,沈阳110870

出　　处：《机械工程师》2024年第7期97-100,104,共5页Mechanical Engineer

摘　　要：在飞机装配自动化生产线中,使用型号为KUKA KR270R2700的传统串联工业机器人对某型飞机座舱盖进行制孔,较大的外负载及振动冲击导致孔的精度较低、误差较大。针对这一问题,文中将一种具有2个转动、1个移动的三自由度并联机器人作为整个自动制孔系统的位姿调整机构,并对其进行运动学的理论计算及仿真。利用并联机构刚度大、抗震性强及精度较高的优点对飞机座舱盖进行制孔加工,为飞机装配生产线中的自动化制孔提供了理论支持,同时为三自由度并联机器人的实际应用研究奠定理论基础。In the aircraft assembly automation production line,due to the use of the KUKA KR270R2700 traditional tandem industrial robot for a certain type of aircraft cockpit cover hole making,the large external load and vibration impact result in low accuracy of the hole,the error is large.To solve this problems,this paper proposes a three-degree-of-freedom parallel robot with two rotations and one movement as the posture adjustment mechanism for the whole automatic hole-making system,and calculates and simulates its kinematics.The theoretical calculation and simulation of the kinematics of the parallel mechanism are carried out.The advantages of high stiffness,high vibration resistance and high accuracy of the parallel mechanism are used to make holes in the aircraft cockpit cover,which provides theoretical support for the realization of automated hole making in the aircraft assembly line and lays the theoretical foundation for the practical application of the three-degree-of-freedom parallel robot.

关 键 词：并联机器人 运动学 刚度 振动 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]