一种铺带并联机器人机构设计与分析

Design and analysis of a parallel robot mechanism with tape placement

针对翼型工件表面铺带需求,提出一种新型并联铺带机器人机构,并主要对机器人中2PUS&2SPS-RPS并联机构模块进行了研究.首先,通过螺旋理论分析了并联机构的自由度;基于封闭矢量方法与D-H法,建立了机构逆解模型,利用反螺旋理论求解机构速度雅可比矩阵.然后,利用杆长约束、支链与动平台和定平台夹角约束条件,绘制了机构位姿工作空间;基于机构雅可比矩阵对机构灵巧性与静刚度性能指标进行分析.最后,通过给定机构运动位姿对并联机构进行运动学逆解与速度雅可比矩阵仿真验证.研究结果表明:2PUS&2SPS-RPS机构可以满足翼型工件表面铺带需求,同时为翼型工件铺带机器人的应用奠定了理论基础.

To meet the tape placement requirement of airfoil surface,a novel parallel robot mechanism with tape placement is proposed.This paper mainly focuses on the analysis of the 2PUS2SPS-RPS parallel mechanism module.First,the degrees of freedom of the parallel mechanism are analyzed with the screw theory.Then,the inverse kinematic model is established based on the closed vector equation and the D-H method,and the Jacobian matrix for the mechanism velocity is solved by the reciprocal screw theory.The workspace of mechanism is plotted with constraints of link length and angle between the fixed platform or the moving platform and the link.Next,based on the Jacobian matrix,the performance indexes of the dexterity performance and static stiffness are analyzed.Finally,the inverse kinematic analysis and velocity Jacobian matrix are verified by simulation with the given kinematic position and posture of the mechanism.Through the analysis,it is verified that the 2PUS2SPS-RPS mechanism can meet the requirements of tape placement for airfoil surface,which lays a theoretical foundation for the application of airfoil tape-placement robot.