【摘要】 工业机器人凭借高灵活性、大工作范围的优势，已逐步成为我国航空航天、航海等国家战略领域中，大型复杂构件加工的关键装备。机器人末端的动态特性好坏由其各关节主导，想要提高机器人的动态性能需要从其薄弱的关节入手，在现有串联形式基础上加以改进和创新，探索具有高刚度特性的新型驱动方式和机器人构型。提出一种面向大型螺旋桨铣削加工的2-RPR型机器人，该机器人由六轴机器人主体与双电动缸支链组成，以电动缸的平动驱动机器人关节的转动，从而提高机器人整机的刚度。为了满足大型螺旋桨加工空间要求，基于遗传算法对机器人各连杆长度参数进行优化，实现机器人整机工作空间的优化，使工作空间满足单叶片加工范围且利用率最大。更多还原

【Abstract】 Industrial robots, with their high flexibility and large working range, have gradually become another important processing equipment besides CNC machine tools in national strategic fields such as aerospace and maritime industry in China. The dynamic characteristics of the robot end are dominated by its joints. To improve the dynamic performance of the robot, it is necessary to start with its weak joints, make improvements and innovations on the basis of the existing series form, and explore new high-stiffness driving methods and robot configurations. A 2-RPR robot for milling large propellers is proposed, which includes a six-axis robot main body and a double electric cylinder branch chain. The translation of the electric cylinder drives the rotation of the robot joint, thereby improving the stiffness of the whole robot. In order to meet the processing space requirements of large propellers, the length parameters of each link of the robot are optimized based on the genetic algorithm to realize the optimization of the working space of the whole robot, so that the working space meets the processing range of a single blade and has the maximum utilization rate.更多还原