Transactions of Nanjing University of Aeronautics & Astronautics
Mechanism Design and Motion Analysis of Heavy-Load Transfer Robot with Parallel Four-Bar Mechanism
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Abstract:
Heavy-load transfer robots are widely used in automobile production and machinery manufacturing to improve production efficiency. In order to meet the needs of large billet transfer， a 4-DOF transfer robot is designed in this paper， which consists of parallel four-bar mechanisms. The Jacobian matrix referring to the mapping matrix from the joint velocity to the operating space velocity of the transfer robot can be solved by the differential-vector method. The mean value of the Jacobian matrix condition number in the workspace is used as the global performance index of the robot velocity and the optimization goal. The constraint condition is established based on the actual working condition. Then the linkage length optimization is carried out to decrease the length of the linkage and to increase the global performance index of velocity. The total length of robot rods is reduced by 6.12%. The global performance index of velocity is improved by 45.15%. Taking the optimized rod length as the mechanism parameter， the distribution of the motion space of the transfer robot is obtained. Finally， the results show that the proposed method for establishing the Jacobian matrix of the lower-mobility robot and for the optimization of the rods based on the velocity global performance index is accurate and effective. The workspace distribution of the robot meets the design requirements.
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Project Supported:
This work was supported by the National Key R&D Program of China （No.2018YFB1307900）， the Natural Science Foundation of Shanxi Province （Nos.201901D211009，201901D211010） and the Technology Innovation Foundation of Shanxi University （No.2019L0177）.
Clc Number:
TP242.2
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