一种原位加工机器人的运动学和性能分析  

Kinematic and Performance Analysis of an In-Situ Machining Robot

作　　者：陶鑫琦 齐杨 TAO Xinqi;QI Yang(School of Mechanical Engineering,Tianjin University of Technology and Education,Tianjin 300222)

机构地区：[1]天津职业技术师范大学机械工程学院,天津300222

出　　处：《现代制造技术与装备》2024年第12期7-9,共3页Modern Manufacturing Technology and Equipment

摘　　要：随着高端装备的迭代发展,人们对大型结构件的高精加工需求随之提高。目前,构件的加工方式为机器人移动定点,实现原位加工。此类机器人结构多为串联机构,但结构的低刚度、弱承载使得加工精度有所下降。针对上述问题,设计了一种具有高刚度、高精度、强承载的3自由度并联机构作为原位加工机器人的结构。基于有限旋量表征机构拓扑,通过闭环矢量法建立关节与位姿的关系解析式,联合SolidWorks和MATLAB仿真验证正确性,根据拓扑映射的雅可比矩阵进行性能分析,可为后续原位加工机器人的设计和分析提供新思路。With the iterative development of high-end equipment,there is also an increasing demand for high-precision machining of large structural components.Currently,the processing method of components is to realize fixed-point in-situ processing by robots mounted on mobile devices.This kind of robot structure is mostly series mechanism,but their low stiffness and poor load-bearing capacity result in decreased machining precision.To address the aforementioned issues,a three-degree-of-freedom parallel mechanism with high stiffness,precision,and robust load-bearing capacity has been designed as the structural basis for an in-situ machining robot.Based on finite screw to characterize the mechanism's topology,the kinematic relationship between joints and poses is established using the closed-loop vector method.This relationship is then verified through simulations in SolidWorks and MATLAB.Performance analysis is conducted using the Jacobian matrix derived from the topological mapping.It provides valuable insights for the design and analysis of future in-situ machining robots.

关 键 词：原位加工 并联机构 有限旋量 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH113[自动化与计算机技术—控制科学与工程]