一种串并混联贴瓷砖机器人的设计  

Design of a series-parallel hybrid tile-adhering robot

作　　者：程钰文 权一飞 庞永俊[1] 孙冰心[1] 雷一帆 梅金彪 CHENG Yuwen;QUAN Yifei;PANG Yongjun;SUN Bingxin;LEI Yifan;MEI Jinbiao(Hebei University of Architecture,Zhangjiakou,Hebei 07500)

机构地区：[1]河北建筑工程学院,河北张家口075000

出　　处：《河北建筑工程学院学报》2024年第4期195-201,共7页Journal of Hebei Institute of Architecture and Civil Engineering

基　　金：张家口市重点研发计划专项(2311022B)。

摘　　要：针对目前贴瓷砖过程中部分瓷砖重量较大、效率低和智能化程度低等问题,设计了一款机械臂为串并混联结构的贴瓷砖机器人,为了提高机器人的承载力和工作效率,确定了基于平行四边形结构的机械臂构型。根据机构特点,对机器人进行运动学分析,利用几何法与D-H方法建立机器人的运动学方程,分析了机械臂工作空间。Aiming at the current tiling process in which some tiles have a large weight,low efficiency,low degree of intelligence and other problems,a tiling robot with a series-parallel hybrid structure for the robotic arm is designed,and in order to improve the robot's load-bearing capacity and work efficiency,the arm configuration based on the parallelogram structure is determined.In this paper,according to the characteristics of the mechanism,the kinematic analysis of the robot is carried out,and the kinematic equations of the robot are established by using the geometric method and the D-H method,and the working space of the robotic arm is analyzed.

关 键 词：瓷砖黏贴 机器人 运动学 

分 类 号：TH12[机械工程—机械设计及理论]