摘要
针对高端制造业对大型、薄壁及复杂曲面工件的精密、高效和柔性加工的需求,课题组设计了一种基于6-SPU并联机构的新型步行式铆孔机器人。首先,建立了机构的位置逆解的数学模型;然后,通过螺旋理论推导出机构的雅可比矩阵,同时考虑支链的刚度系数,建立了机构的全刚度矩阵及刚度模型;最后,对机构在静载荷作用下动平台变形进行了分析,同时分析了机构的刚度特性分布及相关参数对其的影响,并和有限元仿真结果进行对比,验证了刚度模型的合理性。该研究为自动铆接机器人的结构优化及性能分析提供了参考依据。
A new walking-type riveting robot based on 6-SPU parallel mechanism was designed to meet the demands of precision,high efficiency and flexible machining of large,thin-wall and complex curved workpieces in high-end manufacturing industry.First,a mathematical model of the inverse position of the mechanism was established.Then,the Jacobian matrix of the mechanism was derived through the spiral theory,the stiffness coefficient of the branch was also considered.The full stiffness matrix and stiffness model of the mechanism were established.Finally,the deformation of the moving platform under static load was analyzed and the stiffness distribution of the mechanism and the influence of related parameters were analyzed at the meantime.The finite element simulation results were compared to verify the rationality of the stiffness model.The study provides the necessary theoretical basis for the structural optimization and performance analysis of the automatic riveting robot.
作者
梁诤
许勇
吕叶萍
LIANG Zheng;XU Yong;Lv Yeping(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)
出处
《轻工机械》
CAS
2019年第2期6-11,共6页
Light Industry Machinery
