内腔加工混合动力机器人2RRU-RRS并联运动机构设计

IF 2.2 4区计算机科学 Q2 ENGINEERING, MECHANICAL

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-06-26 DOI:10.1115/1.4062649

Lingmin Xu, Xinxue Chai, Ye Ding

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引用次数: 0

摘要

摘要提出了一种用于加工大型工件内腔的混合动力机器人，该机器人由三部分组成:1T自由度的移动装置、1R1T自由度的串行模块和2RRU-RRS自由度的并联运动机构。2RRU-RRS PKM具有折叠式结构，只有一个S关节，两个特定的旋转轴，所有的执行机构都是固定的。本文对并联系统的概念设计、理论运动学和动力学建模、性能评估和优化进行了研究。建立了3D打印模型来展示其应用潜力。本文对内腔加工混合动力机器人的设计具有一定的示范作用。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Design of a 2RRU-RRS Parallel Kinematic Mechanism for an Inner-Cavity Machining Hybrid Robot

Abstract This article presents a hybrid robot for machining the inner cavity of large-scale workpiece, and it is composed of three parts: a mobile device with 1T degree-of-freedom (DoF), a serial module with 1R1T DoFs, and a 2RRU-RRS parallel kinematic mechanism (PKM) with 2R1T DoFs. The 2RRU-RRS PKM has some advantages with a folding structure, only one S joint, two certain rotational axes, and all the fixed actuators. In this article, the conceptual design, theoretical kinematic and dynamic modeling, performance evaluation, and optimization of the parallel system are investigated. A 3D printing model is built to demonstrate the application potential. This article plays an exemplary role in the design of inner-cavity machining hybrid robots.

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来源期刊

Journal of Mechanisms and Robotics-Transactions of the Asme ENGINEERING, MECHANICAL-ROBOTICS

CiteScore

5.60

自引率

15.40%

发文量

131

审稿时长

4.5 months

期刊介绍： Fundamental theory, algorithms, design, manufacture, and experimental validation for mechanisms and robots; Theoretical and applied kinematics; Mechanism synthesis and design; Analysis and design of robot manipulators, hands and legs, soft robotics, compliant mechanisms, origami and folded robots, printed robots, and haptic devices; Novel fabrication; Actuation and control techniques for mechanisms and robotics; Bio-inspired approaches to mechanism and robot design; Mechanics and design of micro- and nano-scale devices.