摘要
该文针对一种面向复杂曲面加工的3-PRS-2P型五轴混联雕刻机器人,利用机构的雅可比矩阵进行了静力学分析。首先,分析该机器人的结构特点,采用矢量封闭法和微分原理建立整机的雅可比矩阵。其次,结合虚功原理,搭建静力学理论模型,定义静力学性能评价指标。最后,通过MATLAB编写程序对该机器人进行静力学分析并绘制出相应的性能图谱。结果显示,动平台的姿态越接近于初始姿态,力/力矩承载能力灵巧度越好;机器人的结构参数对力/力矩承载能力全域性能指标在工作空间内的大小及分布规律有一定影响。
For a 5-axis hybrid engraving robot of type 3-PRS-2P oriented to complex surface machining,a hydrostatic analysis is carried out by using the Jacobian matrix of the mechanism in this paper.Firstly,the structural characteristics of the robot are analyzed,and the vector closure method and differential principle are used to establish the Jacobian matrix of the whole machine.Secondly,combined with the principle of virtual work,the theoretical model of static mechanics is built and the static performance evaluation index is defined.Finally,a program is written through MATLAB to analyze the robot statics and draw the corresponding performance map.The results show that the closer the attitude of the moving platform is to the initial attitude,the better the dexterity of the force/moment carrying capacity is;the structural parameters of the robot have a certain influence on the magnitude of the full-domain performance indexes of the force/moment carrying capacity in the workspace and its distribution law.
作者
吴兴梅
伞红军
张号彬
丁林
WU Xingmei;SAN Hongjun;ZHANG Haobin;DING Lin(Faculty of Mechanical and Electrical Engineering,Kunming University of Science and Technology,Kunming 650500,China;Key Laboratory of Advanced Equipment Intelligent Manufacturing Technology of Yunnan Province,Kunming 650500,China)
出处
《机械科学与技术》
北大核心
2025年第9期1594-1602,共9页
Mechanical Science and Technology for Aerospace Engineering
基金
云南省基础研究计划(202301AU070059)
昆明理工大学人培项目(241120230041)。
关键词
混联机器人
静力学分析
雅可比
虚功原理
hybrid robots
hydrostatic analysis
Jacobian
virtual work principle
