Please wait a minute...
工程设计学报
工程设计学报  2022, Vol. 29 Issue (1): 28-40    DOI: 10.3785/j.issn.1006-754X.2022.00.010
优化设计     
多臂机提综臂辅助旋铆并联机器人优化设计
梁栋1,2, 梁正宇1, 畅博彦1,2, 齐杨3, 徐振宇4
1.天津工业大学 机械工程学院， 天津 300387
2.天津工业大学 天津市现代机电装备技术重点实验室， 天津 300387
3.天津职业技术师范大学 机械工程学院， 天津 300222
4.江苏金龙科技股份有限公司， 江苏 苏州 215500
Optimal design of assisting-riveting parallel robot for lifting arm of dobby loom
LIANG Dong1,2, LIANG Zheng-yu1, CHANG Bo-yan1,2, QI Yang3, XU Zhen-yu4
1.School of Mechanical Engineering, Tiangong University, Tianjin 300387, China
2.Tianjin Key Laboratory of Modern Electromechanical Equipment Technology, Tiangong University, Tianjin 300387, China
3.School of Mechanical Engineering, Tianjin University of Technology and Education, Tianjin 300222, China
4.Jiangu Jinlong Technology Co., Ltd., Suzhou 215500, China
 全文: PDF(3620 KB)   HTML
摘要： 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-Kutzbach）公式分析了其自由度类型及数量。然后，构建了该机器人机构的位置闭环矢量方程，推导了其位置正、逆解的解析表达式，进而通过求导法建立了速度和加速度映射模型。接着，为有效评价机器人机构的运动传递性能，基于运动雅可比矩阵条件数的全域均值及波动量，定义了全域综合性能指标；同时，结合虎克铰的空间结构特点，全面考虑杆件干涉以及机构的传动性能和结构紧凑性，综合得到各类转角和杆长的约束条件，进而建立了该机器人的尺度综合模型。在此基础上，借助粒子群优化（particle swarm optimization，PSO）算法进行优化求解，得到了机器人的最优尺度参数，并据此建立了机器人的三维虚拟样机模型。最后，针对多臂机提综臂辅助旋铆作业的工程需求，借助多体仿真软件开展机器人虚拟仿真验证。结果表明，优化后的辅助旋铆并联机器人的综合性能优异，满足工程应用需求。研究结果为多臂机提综臂的自动化加工提供了一种有效的解决方案，并为辅助旋铆机器人的实体样机制造及实验研究奠定了理论基础。
Abstract: 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.
收稿日期: 2021-02-22 出版日期: 2022-02-28
CLC:  TH 112  
基金资助: 国家自然科学基金资助项目（52005368，51905378）；天津市自然科学基金资助项目（17JCQNJC03900）；天津市教委科研基金资助项目（2019KJ012）
通讯作者: 畅博彦（1985—），男，山西运城人，副教授，博士，从事机构学与机械系统动力学研究，E-mail： mmts_tjpu@126.com， https：//orcid.org/0000-0002-1106-6609     E-mail: mmts_tjpu@126.com
作者简介: 梁 栋（1985—），男，山东五莲人，副教授，博士，从事机器人机构学与多体系统动力学研究，E-mail：dongliang@tiangong.edu.cn， https：//orcid.org/0000-0001-8988-206X；
服务　　
把本文推荐给朋友
加入引用管理器
E-mail Alert
RSS
作者相关文章　　

引用本文:

梁栋, 梁正宇, 畅博彦, 齐杨, 徐振宇. 多臂机提综臂辅助旋铆并联机器人优化设计[J]. 工程设计学报, 2022, 29(1): 28-40.

LIANG Dong, LIANG Zheng-yu, CHANG Bo-yan, QI Yang, XU Zhen-yu. Optimal design of assisting-riveting parallel robot for lifting arm of dobby loom[J]. Chinese Journal of Engineering Design, 2022, 29(1): 28-40.

链接本文:

https://www.zjujournals.com/gcsjxb/CN/10.3785/j.issn.1006-754X.2022.00.010    或    https://www.zjujournals.com/gcsjxb/CN/Y2022/V29/I1/28

[1] 张鹏程,牛建业,刘承磊,宋井科,王立鹏,张建军. 牵引式下肢康复机器人机构参数优化及轨迹规划[J]. 工程设计学报, 2022, 29(6): 695-704.
[2] 刘繁茂,廖灿灿,张原愿,莫寒. 新型碟式太阳能跟踪平台设计和姿态工作空间分析[J]. 工程设计学报, 2022, 29(5): 616-626.
[3] 张春燕,丁兵,何志强,杨杰. 转盘式多足仿生机器人的运动学分析及优化[J]. 工程设计学报, 2022, 29(3): 327-338.
[4] 王永奉, 赵国如, 孔祥战, 郑凯, 李光林. 肌力协同补偿的无动力下肢外骨骼设计与分析[J]. 工程设计学报, 2021, 28(6): 764-775.
[5] 王志亮, 陈锟, 张震, 周旺明, 黄和祥, 夏成宇. 新型钻杆的携岩原理研究与数值仿真分析[J]. 工程设计学报, 2021, 28(5): 602-614.
[6] 陈致, 张春燕, 蒋新星, 朱锦翊, 卢晨晖. 一种可重构的空间开/闭链6R移动并联机构的设计与分析[J]. 工程设计学报, 2021, 28(4): 511-520.
[7] 朱锦翊, 张春燕, 卢晨晖. 基于螺旋理论的管道蠕动并联机构的奇异性研究[J]. 工程设计学报, 2021, 28(3): 287-295.
[8] 李玄, 周双武, 路松, 丁冰晓. 基于二级杠杆机构的二自由度微定位平台设计与分析[J]. 工程设计学报, 2020, 27(4): 533-540.
[9] 孔垂旺, 陈为林, 卢清华, 罗陆锋, 张云志. 单级柔顺正交位移放大机构非线性建模与优化[J]. 工程设计学报, 2020, 27(1): 76-86.
[10] 刘海涛, 翟安琪, 许可. 基于AKC的行星抛光装置构型综合方法[J]. 工程设计学报, 2020, 27(1): 19-26.
[11] 李松梅, 邱世凯. 三叉杆式万向联轴器的平均传动效率分析[J]. 工程设计学报, 2019, 26(4): 379-384.
[12] 唐东林, 李茂扬, 丁超, 魏子兵, 胡琳, 袁波. 轮式爬壁机器人转向稳定性研究[J]. 工程设计学报, 2019, 26(2): 153-161.
[13] 何宝祥, 沈惠平, 薛国新, 储开斌. 并联运动振动筛的筛分特性研究[J]. 工程设计学报, 2011, 18(5): 365-368.
[14] 朱伟, 赖雄鸣. 多参数影响机构的可靠度敏感性分析[J]. 工程设计学报, 2011, 18(2): 124-129.
[15] 赵耐丽, 唐进元, 关文芳, 陈海锋. 间隙接触碰撞副键合图建模及应用[J]. 工程设计学报, 2011, 18(2): 115-119.