可移动多维振动时效机器人设计与运动学分析

针对现有振动时效技术的不足,为解决多维激振作业的需求,设计了一种在3-UPU并联结构支架基础上串联3条机械臂的混联式多维振动时效机器人,拓展了末端执行器的自由度及工作空间。运用ADAMS对并联支架进行运动学分析;基于D-H参数(Denavit-Hartenberg parameters)对机械臂进行建模,并对串联机械臂进行正运动学求解,运用MATLAB对机器人机械臂Ⅱ的工作空间进行求解,解出激振器工作空间的范围。验证了机械臂末端执行器工作区间的可行性。多维振动时效机器人机械臂拥有良好的工作性能,提高了振动时效的工作效率,机械臂间相互协同满足多维振动时效的作业要求。

Design and Kinematics Analysis of MovableMulti-Dimensional Vibration Stress Relief Robot

Aiming at the shortcomings of the existing VSR technology, A hybrid multi-dimensional VSR robot with 3-UPU parallel support and three manipulators was designed to meet the needs of excitation operation in multi-dimensional space, The kinematics of parallel support is analyzed by ADAMS,The application of parallel bracket expands the freedom and working space of end effector. Based on D-H parameter method, the model of the manipulator is established, the forward kinematics of the serial manipulator are solved. The workspace of the robot manipulator II is solved by MATLAB, and the scope of the workspace of the exciter is obtained. The research shows that the multi-dimensional vibration stress relief robot arm has good performance.The scheme is provided to solve the problems of and high labor intensity of traditional VSR. Vibration stress relief robot can meet the requirements of multi-dimensional and improve the efficiency of vibration stress relief.