8-UPS并联机器人的工作空间求解
为了满足自动化大作业空间的生产需求,提出了一种面向大型工件加工（如机翼铆接）和大作业空间的工业机器人概念——8-UPS并联机器人。提出了8-UPS并联机器人整体及支链构型,支链中低副等价支链的巧妙配置确保了机器人的步行功能,通过逆运动学模型求解了驱动杆长变化,同时基于三维搜索法,用Matlab求解了并联机构加工状态下的工作空间,并利用姿态工作空间分析了并联机构杆长对工作空间的影响。研究发现,工作空间的截面积沿z轴方向是先增大后减小,空洞则逐渐消失,当z=2 700 mm时,动平台工作空间的面积达到最大值;随着最小杆长的增加,转动中心在垂直空间的范围逐渐增大,这样可以保证并联机器人有足够的加工空...
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| Published in | 实验室研究与探索 Vol. 35; no. 7; pp. 60 - 64 |
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| Main Author | |
| Format | Journal Article |
| Language | Chinese |
| Published |
上海工程技术大学机械工程学院,上海,201620
2016
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| Subjects | |
| Online Access | Get full text |
| ISSN | 1006-7167 |
Cover
| Summary: | 为了满足自动化大作业空间的生产需求,提出了一种面向大型工件加工（如机翼铆接）和大作业空间的工业机器人概念——8-UPS并联机器人。提出了8-UPS并联机器人整体及支链构型,支链中低副等价支链的巧妙配置确保了机器人的步行功能,通过逆运动学模型求解了驱动杆长变化,同时基于三维搜索法,用Matlab求解了并联机构加工状态下的工作空间,并利用姿态工作空间分析了并联机构杆长对工作空间的影响。研究发现,工作空间的截面积沿z轴方向是先增大后减小,空洞则逐渐消失,当z=2 700 mm时,动平台工作空间的面积达到最大值;随着最小杆长的增加,转动中心在垂直空间的范围逐渐增大,这样可以保证并联机器人有足够的加工空间。 |
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| Bibliography: | WANG Wei, XU Yong, WANG Xin, SUN Feng-lei （ Shanghai University of Engineering Science, Shanghai 201620） large working space; parallei robot; inverse kinematics; working space In order to meet the demand of large space automation produetion. An innovative concept of industrial robots which processed large workpieees （such as wing riveting） in large work space was presented. The paper also put forward whole configuration and branched chain configuration of 8-UPS parallel robot. Craftily configurations of branched chain- single degree of freedom kinetic pair ensure the robotss walking function, Based on the inverse kinematics model, the ehanging sit-tion affected by driven bar length was solved. Based on three dimensiQnal search method, MATLAB was used to solve the workspace of parallel mechanism in processing conditions, and based on the adaptability of the height of the processing objects- the workspace influenced by parallel mechanism bar length was analyzed. The study found that the cross-sectional area of th |
| ISSN: | 1006-7167 |