刚柔复合驱动并联喷涂机器人机构设计与工作空间分析

Mechanical Design and Workspace Analysis of a Rigid-flexible Hybrid Driven Parallel Spray-painting Robot

大型装备空间尺度大,表面形状复杂,其表面自动化喷涂作业受到多因素限制。面向大型装备的表面喷涂作业,设计了一种由柔索及电动推杆复合驱动的并联喷涂机器人,其主要由双平台复合式末端执行器、柔索驱动模组及机器人整体框架等组成,具备工作空间大、末端灵活度较高的特点,并基于驱动索的锚接形式变化提出了不同构型。其次,分析并联喷涂机器人运动学及静力学,计算不同构型下并联喷涂机器人零姿态力封闭可行空间及力螺旋可行空间,并基于张力限制条件对并联喷涂机器人的定位置姿态空间及全局姿态空间进行了分析,考虑工作空间体积与姿态空间体积比等性能指标并综合实际工况展开构型选取。最后,搭建并联喷涂机器人实验平台,面向预设喷涂对象开展运动实验,结果验证了机构的合理性,表明该并联喷涂机器人具备较大尺度下的多姿态灵活作业能力。

Large equipment has large space scale and complex surface shape,so its surface automatic spraying operation is limited by many factors.For the surface coating operation of large equipment,a rigid-flexible hybrid driven parallel spray-painting robot is proposed,which is driven by cables and a linear actuator.The parallel spray-painting robot is mainly composed of a double platforms compound end-effector,cable driven modules and the framework,and it has the characteristics of large workspace and high end-effector flexibility.On this basis,four configurations of cable connection form are proposed.In addition,the kinematics and statics modeling are completed,and the force-closure workspace and the feasible wrench workspace of different configurations are calculated,and based on the tension constraint conditions,the attitude workspace of permanent position and overall space is proposed,and the configuration design is proposed based on workspace volume,attitude workspace volume and the actual working conditions.Finally,the experimental platform has been built and motion experiment is carried out.The experiment result demonstrate the rationality of the mechanism,which means that the parallel spray-painting robot has the ability to operate flexibly in a large range of space.