【摘要】 针对铸造生产中广泛使用的串联式机器人在浇注作业中存在负载小、柔性度低和作业精度低等问题,提出一种新型的混联式重载浇注机器人;设计了一种基于2UPR-2RPU机构的3自由度并联工作臂,进行拓扑结构分析和自由度计算;通过建立并联工作臂运动学模型和静力学模型,分析机构支链长度随浇包转角的变化规律;分析支链受力状况、行程大小随支链在静平台上安装位置变动的关系,对并联工作臂的结构与参数进行优化设计。针对300 kg级浇包,优选出一组综合性能较好的结构参数,经过样机试制及测试,结果表明,并联工作臂的设计方案和结构参数较为合理。更多还原

【Abstract】 In order to solve the problems of low load,low flexibility and low precision in the pouring operations of serial robots widely used in foundry production,a new type of hybrid heavy-duty pouring robot is proposed. A three-degree-of-freedom parallel working arm based on 2UPR-2RPU mechanism is designed,the topology analysis and degrees of freedom calculation are carried out. By establishing the kinematics model and statics model of the parallel working arm,the variation law of the length of the mechanism branch with the angle of the pouring ladle is analyzed. The relationship between the condition of the branch and the stroke size and the position of the branch on the static platform is analyzed. The structure and parameters of the parallel working arm are optimized. For a ladle of 300 kg,a set of structural parameters with better comprehensive properties is selected out. After prototype trial production and testing,the results show that the design proposal and structural parameters of the parallel working arm are reasonable.更多还原