以关节包覆为核心的六轴机器人防护服设计

Design of Six-Joint Robot Protective Clothing with the Core of Joint Covering

国内工业机器人防护服一般参照人体服装的设计方法,即基于机器人的躯干包覆,结合设计师的个人经验加入运动补偿量,属于"一机一版"的设计模式,缺乏理论支撑,因此设计不具有拓展性。提出以主要运动关节的基本包覆及其连杆部分的运动补偿为核心的机器人防护服设计理论。以典型六轴机器人为例,对于防护服主要涉及的"肩"和"臂"关节(即二轴和三轴)以6面体包覆,并双向设置静态松量,推演了版型设计及松量计算式。通过设计制作六轴机器人模型及其防护服,检验和修正所提出的机器人防护服设计理论。研究结果表明,该设计理论不仅使机器人防护服设计具有拓展性,而且使自动化版型设计成为可能。

The design of industrial robot protect clothing usually regards human garment as reference in domestic market.The design mode called"one body-one pattern"is that based on the torso cobering and added with ease setting for motion according to the designer’s personal of experience.Therefore,it has limit on extensibility for lack of the theoretical basis.A new theory of industrial robot protective clothing design was proposed,which took basic covering of major joint and motion compensation of link rod as core.Took the typical six-joint robot as an example,the mainly parts included the"shoulder"and"arm"(i.e.joint 2 and joint 3)in protective clothing were covered in hexagonal angle and combined with bidirectional ease setting.The formulas of pattern design and ease setting were deduced.And theory was verified and revised through actual six-joint robot model and its protective clothing.The results show that the design theory can not only increase the extensibility of protective clothing of robots,but also make it possible for automated pattern design.