摘要
提出一种基于3-RPC/6-UPS并联机构的自动钻铆机器人,旨在完成飞机壁板的钻铆加工任务。执行钻铆加工时,机器人相当于一台固定式并联机床;步行时,机器人可以视为一个足式机器人。建立了控制机器人钻铆执行器的6-UPS并联机构逆运动学模型,采用数值搜索方法得到钻铆执行器末端的工作空间。建立了控制机器人行走的3-RPC并联机构逆运动学模型,采用数值搜索方法绘制出3-RPC并联机构上、下平台的工作空间,使用五次多项式对控制机器人行走的驱动杆进行位移轨迹规划,在虚拟软件中实现了机器人样机的平稳行走。该研究工作可为设计新型的面向大型结构件加工的移动式机器人奠定理论基础。
An automatic drill and riveting robot based on 3-RPC/6-UPS parallel mechanism is proposed to complete the drilling and riveting task of aircraft panel.The robot is equivalent to be a fixed parallel machine tool when performing drilling and riveting,and it also can be seen as a standing robot while walking.The inverse kinematics model of 6-UPS parallel mechanism in charge of controlling the robot drilling and riveting actuator is established.The working space for the end of drilling and riveting actuator is obtained by numerical search method.The inverse kinematics model of 3-RPC parallel mechanism in charge of controlling the robot walking is established.The working space of the upper and lower platform of the 3-RPC parallel mechanism is drawn by numerical search method.The displacement trajectory of the driving rod controlling the robot walking is planned by quintic polynomials,and the smwalking of the robot prototype is realized in the virtual software.The research work could lay a theoretical foundation for the design of a new type of mobile robot for largescale structural parts processing.
作者
覃哲
姜守帅
Qin Zhe;Jiang Shoushuai(College of Mechanical Engineering,Guilin University of Aerospace Technology,Guilin 541004,China)
出处
《机械传动》
北大核心
2021年第2期97-103,共7页
Journal of Mechanical Transmission
基金
桂林航天工业学院校级基金项目(XJ20KT01)。
