一种并联激光焊接机器人的机构设计与运动学分析

详细信息

Mechanism Design and Kinematics Analysis of a Parallel Manipulator for Laser Welding

Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China

摘要: 提出了一种3分支5自由度的并联激光焊接机器人，通过3个分支共同作用，使整机具备了5个自由度的空间加工能力．针对激光焊接，通过分析该机器人的结构特性，建立了其正反解运动学模型，通过解析法求解该模型并进行了计算仿真．最后，对机器人进行激光拼焊实验，仿真数据和实验结果表明，本文研究的并联机器人机构适用于实际的高速、高精度激光焊接．
- 5自由度 /
- 激光焊接 /
- 并联机构
Abstract: A parallel laser welding robot with three legs and five degrees-of-freedom(DOF) is proposed. The parallel robot has spatial working capacities of five DOFs due to its three legs. The forward and inverse kinematics models of this parallel robot are built for laser welding by analyzing its structure characteristics. Then the analytical method is employed to solve the models and the computer simulation is carried out. Finally,the experiments of laser welding with this parallel robot are implemented. The simulation and experiment results show that the proposed parallel robot is suitable for actual laser welding with high speed and high accuracy.
- 5-DOF /
- laser welding /
- parallel mechanism

[1]	游德勇,高向东.激光焊接技术的研究现状与展望[J].焊接技术,2008,37(4):5-9.You Deyong,Gao Xiangdong.Studies and prospect of laser welding technology[J].Welding Technology,2008,37(4):5-9.
[2]	Hunt K H.Structural kinematics of in-parallel-actuated robotarms[J].Journal of Mechanisms,Transmissions,and Automation in Design,1983,105(4):705-712.
[3]	Tsai L W.Robot analysis:The mechanics of serial and parallel manipulators[M].New York,USA:Wiley,1999:116-117.
[4]	Zhang W J,Zou J,Watson L G,et al.The constant-Jaeobian method for kinematics of a three-DOF planar micro-motion stage[J].Journal of Robotic Systems,2002,19(2):63-72.
[5]	Ohya Y,Arai T,Mae Y,et al.Development of 3-DOF finger module for micro manipulation[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems.Piscataway,NJ,USA:IEEE,1999:894-899.
[6]	黄真,赵永生,赵铁石.高等空间机构学[M].北京:高等教育出版社,2006.Huang Zhen,Zhao Yongsheng,Zhao Tieshi.Advanced spatial mechanism[M].Beijing:Higher Education Press,2006.
[7]	张曙.并联运动机床[M].北京:机械工业出版社,2003.Zhang Shu.Parallel kinematics machine tool[M].Beijing:China Machine Press,2003.
[8]	张威,赵新华.3-RTT并联机器人位置分析[J].天津理工学院学报,2003,19(3):32-35.Zhang Wei,Zhao Xinhnu.Position analysis of the 3-RTT parallel manipulator[J].Journal of Tianjin Institute of Technology,2003,19(3):32-35.