基于自由度分配和方位特征集的混联机器人机型设计方法及应用

Type Design Method and the Application for Hybrid Robot Based on Freedom Distribution and Position and Orientation Characteristic Set

混联机器人机构兼有并联机构刚度好、定位精确及串联机构工作空间大、控制解耦性好等两方面的综合性能及优点,其设计的关键是基于操作器方位特征集的串(并)联自由度数目和顺序分配、组合方式及新型少自由度并联机构模块的构造及其性能评价。提出基于自由度分配和方位特征集的混联机器人机型设计方法,提出单点作业、多点协同作业二类混联机器人的定义、符号表示方法并分析其优缺点;给出按这二类作业方式设计3～5自由度混联机器人分别可能构造出的全部结构组合方案、设计原则和步骤;据此,创新设计出多种新颖结构的混联机器人机构实例,并研制单喷枪、三喷枪协同二款五轴混联高速喷涂机器人,比较这二种结构的性能优劣。研究为混联机器人机构的机型设计提供了一种一般性方法,为复杂先进装备的创新研制提供了机构设计的基础。

Hybrid robot mechanisms has both better performances and advantages which combines the better stiffness and precise position that parallel mechanism owns and the bigger workspace and better control decoupling that series mechanisms owns.The key of design hybrid robot is the number of DOFs in series or in parallel,the order distribution of DOFs,the combination method of DOFs based on position and orientation characteristic（POC） set of manipulator,and the module structure and performance evaluation of novel parallel mechanisms with less DOF.The design method for hybrid robot based on freedom distribution and POC set is proposed,including the definition,symbol denotation method and the advantage and disadvantage analysis of both hybrid robot with single-point operation and hybrid robot with mult-point collaborative operation.Accordingly,all the possible structure combinations,design principles and design procedure of hybrid robots with 3～5 DOFs are given.A lot of novel topological structures of hybrid robot were designed.Meanwhile,both 5-axis hybrid robots with single airbrush and with mult-airbrush for spray painting are developed respectively according to the design method.Furthermore,the performance for the two spray robots with different structures is compared.The research provides a general method for hybrid robot mechanism design and provides mechanism design theory basis for development of complex advanced equipment.