Research On Automatic Analysis And Synthesis Theory For Bending Translation Robot Mechanisms

Automatic analysis and synthesis theory of robot mechanism is the most original and challenging problem in robotics.In view of the fact that the existing mechanism analysis and synthesis theory can not be applied to the mechanisms with bending translation characteristic.In this paper,systematic research is carried out on the mechanism with bending-translation from the aspects of analysis and synthesis theory,automatic generation algorithm and application.The main research contents and results are as follows.(1)Description and analysis method for motion characteristics of robot end-effector.Firstly,a description model is established which can clearly express the bending translation characteristics by reference to the intrinsic thoughts and basic concepts of Gaussian non-Euclidean geometry.Secondly,the summation and intersection operation rules of motion characteristics are formulated,and the relevant mathematical proofs are given.And two existence criteria of rotating axes are proposed.Finally,the analysis method for motion characteristics of robot mechanisms is proposed,and the effectiveness of the method has been proved by some examples.(2)Automatic analysis algorithms for motion characteristics.Firstly,the components of topological structure and motion characteristics have been summarized,and their digital models have been established.Secondly,the digitized operation rules of motion characteristics have been formulated.An automatic analysis algorithm for motion characteristics of serial mechanisms has been proposed based on recursive algorithm.And the effectiveness has been illustrated by some examples.Finally,based on the idea of sorting and initial post-primary inspection,an automatic analysis method for the motion characteristics of parallel mechanisms has been proposed,and the correctness has been confirmed with some examples.(3)Automatic algorithm of type synthesis for robot mechanisms with bending translation characteristics.Firstly,a data processing method for topology parametershas been proposed by using Cartesian product,which can not only effectively count the number of branch chains,but also store the data in order of importance.Secondly,an automatic synthesis algorithm of bending translation branch chain has been proposed based on the idea of global substitution,and the databases have been established.In order to expand the databases of bending translation branch chain,an equivalent generation algorithm of composite hinge has been proposed.Finally,an automatic synthesis algorithm of bending translation parallel mechanism has been proposed,and a large number of new types of surface translation and intersecting line translation parallel mechanisms has been obtained.(4)Application in pipeline welding.Firstly,the design idea of a new type of intersecting line welding robot mechanism is presented based on the idea of intrinsic geometry.Secondly,the motion characteristics of the translation mechanism of the intersecting line are analyzed,and the optimization of structure type is completed according to the requirements of welding.Finally,two new types of intersecting line welding robot mechanisms are proposed,and their three-dimensional solid models are established.It is expected that the researches of this paper can improve the topology analysis and synthesis theory of robot mechanism,enrich the types of robot mechanisms,and provide some new prototypes for intersecting line welding robot.