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首页> 外文会议>International Conference on Mechanical Engineering and Mechanics vol.1; 20051026-28; Nanjing(CN) >New Laser Manipulator Based on Parallel Robotics Mechanism
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New Laser Manipulator Based on Parallel Robotics Mechanism

机译：基于并行机器人机制的新型激光操纵器

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摘要

A new multifunctional laser manipulator based on parallel robotics mechanism for cutting and welding is presented. The parallel robotics mechanism is completely different from kinematics machine tools and existing robotics manipulators. It is a closed-loop structure in which the end-effector is connected to the base by several independent kinematics chains with a motion on each, as a result it has many advantages including a rigid structure, good positional accuracy, high response speed, great performance agility and having the ability of easily realizing six-degree-of-freedom ( DOF ) movements. In harmony with this new kind mechanism an agile beam optical head is used for cutting and welding. A Nd:YAG solid laser is chosen as the lamp-house of this manipulator, laser generated by which is transmitted in optical fibre, thus the optical head can perform freely based on moving platform in order to machine randomly spatial surfaces. In this paper, two key technologies of design of parallel robotics mechanism are put forward: determination of parallel robotics mechanism workspace and analysis of kinematics based on computer simulation. In addition the composition and working principle of parallel robotics mechanism are also systematically studied. A useful method of controlling the laser manipulator called inverse kinematics analysis is particularly introduced, through setting anticipative motions on optical head, machining of free form surfaces is becoming easy. The results gained by computer simulation are very benefitial for obtaining the optimum design of parallel robotics mechanism.
机译：提出了一种基于并联机器人机构的多功能激光切割与焊接机械手。并行机器人机制与运动学机床和现有的机器人操纵器完全不同。它是一种闭环结构，其中末端执行器通过多个独立的运动学链连接到基座，每个运动链上都运动，因此具有许多优点，包括刚性结构，良好的位置精度，高响应速度，出色的性能敏捷性，并具有轻松实现六自由度（DOF）运动的能力。与这种新型机制相协调，敏捷光束光学头用于切割和焊接。选择Nd：YAG固体激光器作为该机械手的光源，其产生的激光通过光纤传输，因此光学头可以在移动平台的基础上自由运行，以加工随机的空间表面。提出了并联机器人机构设计的两项关键技术：确定并联机器人机构工作区和基于计算机仿真的运动学分析。此外，还对并联机器人机构的组成和工作原理进行了系统的研究。特别介绍了一种用于控制激光操纵器的有用方法，称为反向运动学分析，通过在光学头上设置预期运动，可以轻松加工自由曲面。通过计算机仿真获得的结果对于获得并行机器人机构的最佳设计非常有益。

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