基于连杆机器人构型理论的偶氮二异庚腈破碎方案研究

Study on Crushing Protocol of 2,2′-Azobisisoheptonitrile Based on Configuration Theory of Multi-linkage Robot

针对偶氮二异庚腈(ABVN)物理加工方案存在的问题,提出了采用连杆机器人对料筒底部剩余物料进行破碎的解决方法,基于李群李代数理论设计了连杆机器人构型,生成了多种等效运动链,并对其进行了优选。结果表明,选用RRR型连杆机器人进行加工为最优物理加工方案;RRR型连杆机器人结构简单,便于制造,打散剩余物料时运行稳定;采用已有方案、RRP型、RPP型和RRR型方案进行破碎分别需要127.1、129.1、143.1、109.6 s,RRR型方案与已有方案相比可以节省大约13.77%的加工时间。

Aiming at the problems in the physical processing protocol of 2,2’-azobis(2,4-dimethylvaleronitrile)(ABVN),a solution was proposed by means of a connecting rod robot to crush the remaining materials at the bottom of the barrel. Based on the Lie group and Lie algebra theory,the configuration of the connecting rod robot was designed,and a variety of equivalent kinematic chains were generated and optimized. The results indicated that selecting the RRR-type connecting rod robot for processing was an optimal physical processing protocol. The RRR-type linkage robot was easy to manufacture due to its simple structure,and it could run stably when used to disperse the remaining materials. It took127. 1,129. 1,143. 1 and 109. 6 s for the current protocol,RRP-type,RPP-type,and RRR-type protocols to crush the remaining materials,respectively. The RRR-type protocol can save about 13. 77 % of the processing time compared to the current protocol.