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依据六自由度机器人设计“臂腕分离”的原则,基于D-H参数对六自由度机器人构型进行拓扑分类,得到32类三自由度臂部结构。研究了位置雅可比与构型奇异性之间的关系,区分出12类结构奇异构型和20类非结构奇异构型。对机器人臂部结构构型的负载能力特性进行分析,得到10类负载性能较好的非结构奇异构型。编制了臂部结构构型分类表,确定了基于负载能力的机器人构型设计原则,能用于指导机器人的构型设计。进行了机器人构型实例分析与蒸汽发生器检修机器人工程样机研制,验证了所提出构型设计方法的有效性。
According to the principle of six degrees-of-freedom robot design and arm-arm separation, the six-DOF robot topology is classified based on D-H parameters, and 32 types of three degrees-of-freedom arm structures are obtained. The relationship between Jacobian position and configuration singularity is studied, and 12 types of singular configuration and 20 types of unstructured singular configuration are distinguished. The load capacity characteristics of robot arm structure configuration were analyzed, and ten kinds of non-structure singular configuration with good load performance were obtained. The classification structure table of arm structure was compiled and the design principle of robot configuration based on load capacity was determined, which can be used to guide the robot configuration design. The case study of robot configuration and the development of robotic engineering prototype of steam generator overhaul were carried out, and the validity of the proposed configuration design method was verified.