摘要
【目的】满足汽车表面加工与车漆喷涂的任务需求,利用机器人进行协同甚至自主完成加工、美化工作,提高工作效率。【方法】设计了一款具备多自由度的汽车车身制造与喷漆机器人,采用3-RPS并联机构作为执行部件支撑件,针对机器人的结构设计特点,主要对机器人末端3-RPS并联机构支撑部分的机构构型和整体运动采用螺旋理论进行分析,利用闭环支链建立机构运动学模型。【结果】利用MATLAB和Admas View软件分别完成了运动学方程求解和运动学仿真,两者结果误差在3%以内。【结论】仿真值与分析值的误差较小,在可忽略范围内,所建立的设计机构运动学方程有效可行,可以利用此结果进行进一步的机器人运动控制设计与相关研究。
[Objective]To meet the task requirements of automotive surface processing and paint spraying,and to use robots to collaborate or even independently complete processing and beautification work,improving work efficiency.[Method]A multi degree of freedom automobile body manufacturing and painting robot has been designed,using a 3-RPS parallel mechanism as the executive component support.Based on the structural design characteristics of the robot,the mechanism configuration and overall motion of the support part of the 3-RPS parallel mechanism at the end of the robot were mainly analyzed using screw theory;establish a kinematic model of the mechanism using closed-loop support chains.[Result]The kinematic equations were solved and kinematic simulations were completed using MATLAB and Admas View software,respectively,with an error of within 3%.[Conclusion]The error between simulation values and analysis values is small,and within a negligible range,the established kinematic equations of the design mechanism are effective and feasible.This result can be used for further robot motion control design and related research.
作者
叶秋
夏宁明
宋代平
Ye Qiu;Xia Ningming;Song Daiping(College of Mechanical and Vehicle Engineering,Chongqing University,Chongqing 400030)
关键词
并联机构
螺旋理论
运动学模型
parallel mechanism
screw theory
kinematic model
