大型喷浆机器人油缸双联机构的优化设计与运动仿真

Optimum design and motion emulation of the dual-linkage applied to the oil cylinder of a large shotcreting robot

喷浆机器人工作中，小臂伸缩机构应随大臂的起落自动维持与地面平行的姿态，为此采用了油缸联动机构．为确定设计初期机构各部的结构尺寸。

The oit cylinder linkage isadopted in order to keep the short arm automatically being parallel to theground during the longarm lifting and descending while the shotcretingrobot working CAD is successfully used in determining the sizes of theprimary structure