两级升降多自由度机械臂设计及运动学

Two multi-freedom mechanical lifting system design

针对目前航空发动机主泵装配主要靠人力搬运这一问题,设计了一种结构为二级升降多自由度机械臂安装设备,该系统采用两级升降多自由度升降机械臂虚拟建模,通过机器人自动化水平的搬移和装配,不仅简化了重体力人工装配,降低了操作者的劳动强度,还提高了搬移和装配质量和生产效率.通过Pro/E虚拟建模技术验证了设计的可行性.该系统建立的二级升降多自由度机械臂的动力学模型,为进一步研究可提供理论依据.

Currently the main pump assembly of aircraft engines mainly depends on manual handling. In order to solve this problem, this paper designed a structure for the two multi-DOF manipulator mounted lifting equipment. The system uses two lifting virtual modeling multi-DOF manipulator lifting, moving through the level of automation and robotic assembly. It not only simplifies the assembly of heavy physical labor, and reduces the operator＇s labor intensity, but also improves handling and assembly quality and production efficiency. In the design of the foundation through Pro / E, virtual modeling technology is utilized to verify the feasibility. The system established by two multi-DOF manipulator lifting kinetic model which provided a theoretical basis for further study.