面向码垛应用的变胞机构设计与尺度分析

Design and Dimensional Analysis of a Metamorphic Mechanism for Palletizing Application

针对单一重复和多样的码垛工作任务,设计了一种能实现多自由度构态和1自由度构态运动的变胞码垛机器人机构,该机构可由多自由度构态调整为1自由度构态,通过1自由度构态实现工作空间内任意两点的移动。将机构分为本质支链和支撑支链,提出了对该机构进行尺度计算的方法。首先,针对工作空间对本质支链进行尺度优化,得到该支链的尺度参数;再根据1自由度构态将实现工作空间任意两个固定点的移动条件和构件尺度范围作为约束条件,计算得出支撑支链的尺度参数。进行了算例分析,得到该机构合理的构型及其尺度参数。研究工作为基于实际应用的变胞机构尺度分析提供了参考。

A metamorphic palletizing robot mechanism with multi degree of freedom(DOF)configuration and single-DOF configuration is designed for repetitive and diverse palletizing. The mechanism is adjusted from multi-DOF configuration to single-DOF configuration,and the movement of any two points in the workspace is realized by single-DOF configuration. Based on this,a method for calculating dimensions of the mechanism is proposed. The mechanism is divided into the essential and supporting branch chains. Firstly,the dimensions of the essential branch chain are optimized according to the workspace,and the dimensional parameters of this branch chain are obtained. Secondly,according to single-DOF configuration,the movement of any two points in the workspace and dimensional ranges of links are set as the constraint conditions. The dimensional parameters of the supporting branch chain are calculated. The reasonable configuration and dimension parameters of the mechanism are obtained through the analysis of the example study. This work provides a reference for the dimensional analysis of metamorphic mechanisms based on practical application.