搅拌摩擦焊混联机器人机构设计方法研究

搅拌摩擦焊技术被认为是焊接技术的一次革命，被广泛应用于航空/航天、汽车等产业。但现有搅拌摩擦焊装备仅能用于二维焊接，对大量复杂空间曲面焊接无能为力，只能采用空间多轴机器人来完成。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，必须采用并联机构来作为主机构。因此，如何根据搅拌摩擦焊的工艺特性综合出具有工程适用性的并联机构，并对该种机构进行尺寸优化设计，是当前并联机器人机构学亟需回答的重要问题。 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，综合出具有期望性能的新构型；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评价的新指标及设计方法，最后通过研制原理验证样机，验证理论研究结果的正确性和合理性。项目研究成果对我国空间搅拌摩擦焊机器人装备的自主创新具有重要理论指导意义。

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.