大型造船门式绳牵引并联起重机器人的机构设计与运动学位置逆解分析

Mechanism Design and Analysis of Inverse Pose Kinematics Problem of a Large-Sized Wire-Driven Parallel Gantry Crane Robot for Shipyards

针对大型造船门式起重机存在的翻身作业不灵活、机械结构复杂等缺陷,将3根绳牵引的欠约束绳牵引并联机器人技术引入到对大型造船门式起重机的改造中,提出大型造船门式绳牵引并联起重机器人的概念.参照现有大型造船门式起重机的基本参数,按照1∶50的比例,对该机器人的机构参数进行配置,详细分析其广义运动学位置逆解问题并给出计算方法.实例仿真表明,该机器人能实现6自由度的吊运任务.

The concept of a large - sized wire - driven parallel gantry crane robot for shipyards is presented when a 6 degree - of-freedom incompletely restrained parallel mechanism （IRPM） with 3 wires is introduced to large-sized gantry cranes for shipyards to overcome the disadvantages of the current large-sized gantry cranes such as the dull trajectory for turn-over operation and complicated mechanical structure. According to the basic parameters of current large-sized gantry cranes for shipyards, the mechanism configuration of the large-sized wire-driven parallel gantry crane robot for shipyards is given. The inverse pose kinematics problem is analyzed in detail and the computation method is given, and the case study has shown that the robot can realize 6-degree-of-freedom motion for handling task.