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Research on Kinematics and Pouring Law of a Mobile Heavy Load Pouring Robot

机译：移动式重载浇注机器人的运动学和浇注规律研究

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摘要

In order to meet the requirement of continuous pouring in many varieties and small batches in casting production, a mobile heavy load pouring robot is developed based on a new 4-UPU parallel mechanism due to its strong carrying capacity. Firstly, the instantaneous motion characteristics of the novel 4-UPU parallel mechanism with four degrees of freedom (DOF) are analyzed using screw theory. By using the geometric method, both the forward and inverse kinematic solutions of the proposed robot system are given out. Secondly, based on a common pouring ladle, the volume change of pouring liquid in pouring process and the relationship between tilting angular velocity and flow rate are analyzed, and the results show that the shape of the ladle and the design of the pouring mouth have great influence on the tilting model. It is an important basis for the division of the sectional model. Finally, a numerical example is given to verify the effectiveness of the developed tilting model. The mapping relation between the tilting model and the parallel mechanism shows that the pouring flow can be adjusted by controlling the movement of parallel manipulator. 'I he research of this paper provides an important theoretical basis for the position control of mobile heavy load pouring robot and the research of pouring speed control.
机译：为了满足铸造生产中多品种，小批量连续浇注的要求，由于其强大的承载能力，基于新型4-UPU并联机构开发了一种移动式重载浇注机器人。首先，利用螺旋理论分析了新型的具有四个自由度（DOF）的4-UPU并联机构的瞬时运动特性。通过几何方法，给出了所提出的机器人系统的正向和反向运动学解。其次，在普通浇包的基础上，分析了浇注过程中浇注液的体积变化以及倾角速度与流量之间的关系，结果表明，浇包的形状和浇注口的设计具有很大的意义。对倾斜模型的影响。这是分割模型的重要基础。最后，给出一个数值例子来验证所开发的倾斜模型的有效性。倾斜模型与并联机构之间的映射关系表明，通过控制并联机械手的运动可以调节浇筑流量。 “本文的研究为移动式重载浇注机器人的位置控制和浇注速度控制的研究提供了重要的理论基础。

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  • 来源
    《Mathematical Problems in Engineering》 |2018年第6期|8790575.1-8790575.13|共13页
  • 作者

    Li Long; Wang Chengjun; Wu Hongtao;

  • 作者单位

    Nanjing Univ Aeronaut & Astronaut, Coll Mech & Elect Engn, Nanjing, Jiangsu, Peoples R China;

    Anhui Univ Sci & Technol, Coll Mech Engn, Huainan, Peoples R China;

    Nanjing Univ Aeronaut & Astronaut, Coll Mech & Elect Engn, Nanjing, Jiangsu, Peoples R China;

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