机器人连杆机构的优化设计

Optimum Designing about Robot Bar linkeage Mechanism

喷浆机器人的喷枪调姿机构是一种油缸驱动的连杆调姿机构。喷枪在工作过程中要实现左右± 4 5°的摆头运动 ,在极限位置时既要能达到调姿范围要求 ,又不能使驱动产生机械自锁 ;在此基础上 ,各部分结构应尽量紧凑 ,油缸长度尽量短。为此 ,对喷枪调姿机构采取了优化设计 。

The spray gun adjustment of shotcrete robot is a swing link mechanism driven by cylinder. The spray gun should swing in the range of ±45 degrees at work. And at the extreme position, the mechanism must meet the scope requirement and no selflock. On the base of above statement, the dimensions of the parts and cylinder should be as compact as possible. For this purpose,optimum designing method is usde to design the spray gun swing link mechanism, and the result is quite satisfactory.