大型复杂构件加工机器人的本体设计与工作空间分析

Ontology Design and Workspace Analysis of Large Complex Component Processing Robots

大型复杂构件是航天、轨道交通、能源、船舶等领域装备的核心结构件,具有尺寸大、形状复杂、加工精度要求高等特点。目前,能克服龙门设备成本高、柔性和适应性不强等缺陷的机器人化加工系统成为大型复杂构件加工的利器。但现有的机器人化加工系统本体性能存在工作空间小、负载能力弱等问题。因此,提出了一种可作为大型复杂构件加工机器人核心本体的混联机构。该混联机构包括1个执行加工任务的串联机械手和1个6-UPS并联机构;借助6个驱动杆驱动的6-UPS并联机构一方面用于支撑串联机械手并调控其位置,另一方面用于驱动以混联机构为本体的机器人行走,从而实现机器人的机动和工作空间的拓展。进行了串联机械手部分、6-UPS并联机构部分、整个混联机构的运动学建模和工作空间求解,证明整个混联机构的工作空间显著大于串联机械手部分的工作空间和6-UPS并联机构部分的工作空间;以提出的混联机构作为机器人本体,设计出机器人虚拟样机,通过在三维软件中实现机器人虚拟样机的步态行走,证明所设计的机器人可以借助行走功能进一步拓展工作空间。

Large complex components are the core structural components of equipment in the fields of aerospace,energy,ships,etc.Such components have large sizes,complex shapes,and high processing accuracy requirements.Nowadays,robotized processing systems can overcome the shortcomings of high cost,poor flexibility of the gantry equipment,which have become a powerful tool for processing large complex components.However,the ontology performance of the existing robotized processing system still has problems such as small workspace and weak load capacity,so a hybrid mechanism that can be used as the core ontology of a large complex component processing robot is proposed in this study.The hybrid mechanism consists of a series of manipulators for processing tasks and a 6-UPS parallel mechanism.The 6-UPS parallel mechanism,driven by six drive rods,is used to support the series manipulator and regulate its position and pose on the one hand,and drive the robot to travel with the hybrid mechanism as the ontology on the other hand.The kinematics modeling and workspace solutions of the serial manipulator,6-UPS parallel mechanism and the whole hybrid mechanism are completed in this study and it is proved that the workspace of the whole hybrid mechanism is significantly larger than that of the serial manipulator and the 6-UPS parallel mechanism.The virtual prototype of the robot is designed with the proposed hybrid mechanism as the robot ontology.By realizing the gait walking of the virtual prototype in a three-dimensional software,it is proved that the designed robot can further expand the workspace using a walking function.