【作者】 周小胜；

【导师】 王淑仁；

【作者基本信息】 东北大学 ， 机械设计及理论， 2008， 硕士

【摘要】 激光焊接并联机器人综合了并联机器人、焊接机器人和激光焊接方面的技术优势,是当今焊接工艺发展和应用的热点之一,是实现焊接工艺自动化的一个新的发展方向,对决定制造业未来发展前途具有重要的战略意义。少自由度并联机构是机器人研究领域的热门课题,目前许多学者开发出很多新机构,但新机构要进入实际的工程应用领域还需进行很多系统的研究。本课题密切结合开发新型激光焊接并联制造装备的需求,在国家863计划资金资助下,系统研究一种新型激光焊接并联机器人的构型设计、运动学分析、工作空间研究、性能仿真等问题。本课题总结归纳了少自由度并联机构的结构组成原理、并联机构的选型原则、并联机构运动副及运动支链的类型设计。以此为基础,根据简单及适用的原则,本课题提出了一种具有工程实用价值的三分支三自由度2TPRRR-TP并联机器人,并给出了该并联机器人的结构设计图。根据齐次坐标变换理论,构造出了该并联机构的位置正、逆解模型,并对其模型进行了系统研究,为我们正确的选型及控制策略提供了理论依据。利用极限边界搜索算法求出了该并联机构的工作空间,并运用MATLAB的绘图及数据可视化技术给出了该并联机构的工作空间的三维仿真实体模型。最后用ADAMS软件建立了该并联机器人的虚拟样机,对其运动学性能进行了仿真,与理论计算相吻合。为后续的物理样机制造提供了技术储备。更多还原

【Abstract】 Robot of parallel laser weld have integrated technical advantage of parallel robot, welding robot and aspect of laser weld. It is one of the hotspots of welding technics development and application nowadays. It is also a new developing direction of implementing welding technics automatization. Without question, researching of the robot will have an important strategical significance for manufacturing future.The lower-mobility parallel mechanisms are hot topics in the field of robotics research. A lot of scholars have open out varieties of novel mechanisms. But before they enter into the field of actual engineering applications comprehensive investigations must be done. Under the help of national 863 project financing, this dissertation deals with the theory and methodology for the design of a novel laser welding parallel robot, including conceptual design, kinematics analysis, workspace synthesis and analysis, performance simulation.This dissertation summarizes the theory of configuration synthesis the lower-mobility parallel mechanisms, selecting principle of parallel mechanisms and design of constraint chains. As a result, a novel 3-DOF parallel mechanisms named 2TPRRR-TP is proposed. Drawing of configuration design are also gained. According to theory of homogeneous coordinate transformation, both forward position analysis and inverse position analysis are formated. The two position model are systematically researched. The workspace of the novel parallel mechanism is solved based on arithmetic of limited border searching. Three-dimension solid simulation model is gained by drawing and VISC(visualization in scientific computing) of Matlab.At last, this dissertation provided a believable method of the parallel mechanism design by using the virtual prototype technology with ADAMS software.更多还原