多臂机提综臂辅助旋铆并联机器人优化设计

提综臂是多臂机上实现凸轮开口运动的关键核心部件.为满足多臂机提综臂的自动化加工需求,设计了一种新型辅助旋铆并联机器人,以实现在提综臂旋铆加工过程中对零部件的高速、高精度抓取和摆放,显著提升生产效率和保证加工质量.首先,介绍了新型辅助旋铆并联机器人机构的拓扑结构特征,并结合旋量理论及修正的G-K(Grübler-Kutz...

Optimal design of assisting-riveting parallel robot for lifting arm of dobby loom

The lifting arm is the key component for realizing the cam opening movement on the dobby loom.In order to meet the requirements of automatic manufacture for the lifting arm of dobby loom,a novel assisting-riveting parallel robot is design to achieve the high-speed and high-precision grasping and placing of parts and components during the riveting process of the lifting arm,so as to significantly improve the production efficiency and ensure the processing quality.Firstly,the topological structure characteristics of the novel assisting-riveting parallel robot mechanism were introduced,and the type and number of the degree of freedom of robot mechanism were analyzed by combining the screw theory and the modified G-K(Grübler-Kutzbach)formulation.Secondly,the position closed-loop vector equations of this robot mechanism were established,and the analytical expressions of forward and inverse position solutions were derived.The velocity and acceleration mapping models were established by the derivation method.Thirdly,in order to effectively evaluate the kinematic transmission performance of this robot mechanism,the global comprehensive performance indices were defined based on the global mean value and fluctuation of condition number of the kinematic Jacobian matrix;at the same time,combined with the spatial structure characteristics of hook joint,considering the rod interference and the transmission performance and structural compactness of the mechanism,the constraints of various angles and rod lengths were obtained,and the dimensional synthesis model of this robot was established.On this basis,the optimal dimensional parameters of robot were obtained by means of the particle swarm optimization(PSO)algorithm for optimization and solution,and then the three-dimensional virtual prototype model of the robot was established.Finally,in view of the engineering requirements of the assisting-riveting operation for the dobby loom lifting arm,the virtual simulation verification for the robot was carried out by means of the multi-body simulation software.The results indicated that the optimized assisting-riveting parallel robot had excellent comprehensive performance and met the requirements of engineering applications.The research results can provide an effective solution for the automatic manufacture of the dobby loom lifting arm,and lay a theoretical foundation for the solid prototype manufacturing and experimental study of assisting-riveting robots.