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多噴槍協(xié)同式噴涂五軸混聯(lián)機(jī)器人設(shè)計(jì)
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國(guó)家自然科學(xué)基金資助項(xiàng)目(60875052)和江蘇高校優(yōu)勢(shì)學(xué)科建設(shè)工程資助項(xiàng)目(蘇政辦發(fā)(2011)6號(hào))


Design of 5-axes Hybrid Robot with Several Spray Guns for Collaborative Spraying
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    摘要:

    針對(duì)大型扁平型立方體工件的噴涂工藝特點(diǎn)，將并聯(lián)機(jī)構(gòu)應(yīng)用于噴涂工藝，設(shè)計(jì)了一種控制解耦性很好的五軸混聯(lián)噴涂機(jī)器人，闡述了這種噴涂機(jī)器人的機(jī)構(gòu)設(shè)計(jì)、工作原理、運(yùn)動(dòng)學(xué)分析、驅(qū)動(dòng)方式、控制系統(tǒng)硬件組成及其控制方式。該機(jī)器人具有結(jié)構(gòu)緊湊、噴涂效率高、涂層厚度均勻和操作簡(jiǎn)便等特點(diǎn)，具有較好的應(yīng)用前景。

    Abstract:

    A parallel mechanism was used in spray painting equipment for large and flat cube workpiece. A 5-axes decoupling hybrid spraying robot was designed. The mechanism design, working principle, kinematical analysis, drive mode, hardware composition and control method of control system for the spraying robot were expounded. The robot had compact structure, high spraying efficiency, uniform coating thickness, simple operation, and good prospect.

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李菊,趙德安,沈惠平,鄧嘉鳴,蔣益興,徐偉.多噴槍協(xié)同式噴涂五軸混聯(lián)機(jī)器人設(shè)計(jì)[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2012,43(4):216-220. Li Ju, Zhao Dean, Shen Huiping,Deng Jiaming, Jiang Yixing, Xu Wei. Design of 5-axes Hybrid Robot with Several Spray Guns for Collaborative Spraying[J]. Transactions of the Chinese Society for Agricultural Machinery,2012,43(4):216-220.

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  • 在線發(fā)布日期: 2012-04-18
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