一种大型球冠蜂窝灌注机器人结构设计与分析

针对航天器中大型球冠蜂窝防热层结构自动灌注问题,设计了一种3自由度混联灌注机器人,并建立灌注机器人的机构模型.该混联机器人结构紧凑、驱动简单、占地面积小,末端灌注装置始终垂直于球冠面移动,有利于蜂窝结构的灌注;采用多机器人操作模式,提高了灌注效率.通过建立运动学约束方程,分析了机构的运动学反解,同时建立了机构的速度雅可比矩阵,在此基础上,利用一种高效的数值正解算法分析了运动学正解,并通过对位置正解的分析得出灌注机器人的整个工作空间,并基于速度雅可比矩阵对机构的灵巧性和奇异性进行分析.结果表明灌注机器人能够实现对蜂窝结构的精确定位,且工作空间能够达到整个球冠面,满足蜂窝防热层结构的灌注要求.

Structure design and analysis of perfusion robot for a large-scale spherical honeycomb

A three degrees of freedom (DOF) hybrid perfusion robot was designed,and the architectural model of the robot was constructed.The structure of the hybrid robot is simple and compact,and the robot takes a little space.The end of the perfusion apparatus always perpendicularly moves to the surface of spherical honeycomb,which is conducive to honeycomb perfusion.To improve the efficiency of the perfusion,the robot adopted the mode of multi-robot operation.Firstly,the kinematics constraint equations were established,through which the inverse kinematics was solved and velocity Jacobian matrix of the mechanism was established.Secondly,by using an efficient algorithm of numerical forward solution,the direct kinematics was analyzed,and the workspace of the mechanism was calculated based on the direct kinematics.Finally,kinematic dexterity and singularity of the mechanism were analyzed based on Jacobian matrix.It is concluded that the perfusion robot could achieve precise positioning of the honeycomb structure and reach the overall spherical surface,which can satisfy the perfusion requirements of thermal protection layer structure.