圆钢端面贴标机器人机构构型综合

Configuration synthesis of labeling robot for the round steel end surfaces

根据成捆圆钢端面贴标的工程应用场景,采用基于输出自由度和方位特征集的机器人拓扑结构综合方法,给出满足成捆圆钢端面贴标的机器人机构设计原则和步骤,根据贴标需求及输出自由度分析得到圆钢端面贴标机器人宜选用混联机构,其中3个移动自由度由并联机构实现,2个转动自由度由串联机构实现,根据方位特征集分析得到贴标混联机器人并联机构的拓扑结构,分析串联结构的构型设计出面向圆钢端面贴标应用的混联机器人构型。提出的面向特殊应用的混联机器人拓扑结构综合对于特定工业应用的机器人设计具有一定的实践意义。

The topological structural synthesis of robot based on output freedom and Position and Orientation Characteristic（ POC） set is proposed according to engineering application scene of labeling for the round steel end surfaces of a bundle. The design principles and design procedure of labeling robot for the round steel end surfaces of a bundle are given. According to the labeling requirements and analysis of output freedom,the structure of labeling robot should use hybrid mechanism,and three translational Degrees of Freedom（ DOFs） of labeling hybrid robot by output freedom analyzing is realized by the parallel mechanism,two rotational DOFs is realized by the series mechanism. The topological structural of parallel mechanism of the hybrid robot is obtained by POC set. Analyze the type of the series mechanism and the topological structure of automatic labeling hybrid robot for the round steel end surfaces of a bundle was designed. The research of topological structural synthesis and optimal type selection has a certain practical significance to the mechanism design of hybrid robotic for specific industrial applications.