可移动多维振动时效机器人设计与运动学分析

Design and Kinematics Analysis of Movable Multi-dimensional Vibration Stress Relief Robot

针对现有振动时效技术的不足,为解决多维激振作业的需求,设计了一种在3-UPU并联结构支架基础上串联3条机械臂的混联式多维振动时效机器人,拓展了末端执行器的自由度及工作空间。运用ADAMS对并联支架进行运动学分析;基于D-H参数(Denavit-Hartenberg parameters)对机械臂进行建模,并对串联机械臂进行正运动学求解,运用MATLAB对机器人机械臂Ⅱ的工作空间进行求解,解出激振器工作空间的范围。验证了机械臂末端执行器工作区间的可行性。多维振动时效机器人机械臂拥有良好的工作性能,提高了振动时效的工作效率,机械臂间相互协同满足多维振动时效的作业要求。

Aiming at the shortcomings of the existing vibratory stress relief technology,a hybrid multi-dimensional vibration stress relief robot with 3-UPU parallel support and three manipulators was designed to meet the needs of excitation operation in multi-dimensional space.The kinematics of parallel support was analyzed by ADAMS.The application of parallel bracket expanded the freedom and working space of end effectors.Based on Denavit-Hartenberg(D-H)parameter method,the model of the manipulator was established,the forward kinematics of the serial manipulator were solved.The workspace of the robot manipulator II was solved by MATLAB,and the scope of the workspace of the exciter was obtained.The possibility of the working space of the manipulator end actuator was verified.The research shows that the multi-dimensional vibration stress relief robot arm has good performance.The scheme improves the work efficiency of the vibration aging.The robot’s arms cooperate with each other to meet the requirements of multi-dimensional vibration aging,and further improve the efficiency of vibration stress relief.