基本信息
项目批准号：51475431
申请代码：E0501
项目名称：搅拌摩擦焊混联机器人机构设计方法研究
项目负责人：
李秦川
依托单位：
浙江理(lǐ)工大學(xué)
研究期限：2015-01-01 至 2018-12-31
资助经费：84.0（万元）
项目摘要
中文(wén)摘要：
搅拌摩擦焊技术被认為(wèi)是焊接技术的一次革命，被广泛应用(yòng)于航空/航天、汽車(chē)等产业。但现有(yǒu)搅拌摩擦焊装备仅能(néng)用(yòng)于二维焊接，对大量复杂空间曲面焊接无能(néng)為(wèi)力，只能(néng)采用(yòng)空间多(duō)轴机器人来完成。然而，串联工业机器人的刚度不足以承受搅拌摩擦焊中巨大轴向力，必须采用(yòng)并联机构来作為(wèi)主机构。因此，如何根据搅拌摩擦焊的工艺特性综合出具有(yǒu)工程适用(yòng)性的并联机构，并对该种机构进行尺寸优化设计，是当前并联机器人机构學(xué)亟需回答(dá)的重要问题。 本项申请根据搅拌摩擦焊工艺特性，提出不含球铰的RPR类并联机构构型综合方法，综合出具有(yǒu)期望性能(néng)的新(xīn)构型；建立包含约束特性的RPR类并联机构的力/运动传递矩阵，提出对应于约束广义力传递性能(néng)评价的新(xīn)指标及设计方法，最后通过研制原理(lǐ)验证样机，验证理(lǐ)论研究结果的正确性和合理(lǐ)性。项目研究成果对我國(guó)空间搅拌摩擦焊机器人装备的自主创新(xīn)具有(yǒu)重要理(lǐ)论指导意义。
英文(wén)摘要：
Friction stir welding (FSW) has been regarded as a revolution in welding technology. It has been applied in many industries such as aerospace and automobile.But current FSW equipments can only perform two dimensional welding. Most complicated weldings in spacial surface require employment of multi-axis robot. However, the stiffness of serial industry robot is not enough to support the huge axial force in FSW. Parallel mechanism is thus proposed to be employed as major mechanism. Hence, two questions in theory of parallel mechanism are identified. The first question is how to synthesize parallel mechanisms suitable for FSW features. The second question is how to optimize the link parameters of the selected parallal mechanism. This proposal aims to propose a method for synthesize RPR-equivalent parallel mechanism without spherical joint based on features of FSW and invent new architectures with desirable performance. Then force/motion transmission matrix that contains constraint information will be established. New index and design method will be proposed for evaluating transmission of constraint force. A prototype will be developed to testify the theoretical results. The achievements of this project will be important theoretical guidances for self-innovation of space FWS robot in China.
——来自https://kd.nsfc.gov.cn/
