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| 多喷枪协同式喷涂五轴混联机器人设计 | |
| 引用本文： | 李菊,赵德安,沈惠平,邓嘉鸣,蒋益兴,徐伟.多喷枪协同式喷涂五轴混联机器人设计[J].农业机械学报,2012,43(4):216-220. |
| 作者姓名： | 李菊 赵德安 沈惠平 邓嘉鸣 蒋益兴 徐伟 |
| 作者单位： | 1. 江苏大学电气信息工程学院,镇江,212013 2. 常州大学机械工程学院,常州,213016 3. 浙江龙游新迪高分子有限公司,衢州,324400 |
| 基金项目： | 国家自然科学基金资助项目(60875052)和江苏高校优势学科建设工程资助项目(苏政办发(2011)6号) |
| 摘 要： | 针对大型扁平型立方体工件的喷涂工艺特点,将并联机构应用于喷涂工艺,设计了一种控制解耦性很好的五轴混联喷涂机器人,阐述了这种喷涂机器人的机构设计、工作原理、运动学分析、驱动方式、控制系统硬件组成及其控制方式。该机器人具有结构紧凑、喷涂效率高、涂层厚度均匀和操作简便等特点,具有较好的应用前景。 |
| 关 键 词： | 机器人 喷涂 混联机构 设计 |
Design of 5-axes Hybrid Robot with Several Spray Guns for Collaborative Spraying |
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| 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 of Agricultural Machinery,2012,43(4):216-220. | |
| Authors: | Li Ju Zhao Dean Shen Huiping Deng Jiaming Jiang Yixing Xu Wei |
| Institution: | Jiangsu University;Jiangsu University;Changzhou University;Changzhou University;Changzhou University;Zhejiang Longyou County Xindi Polymeric Material Co., Ltd. |
| 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. |
| Keywords: | Robot Spraying Hybrid mechanism Design |
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