论文标题
具有在飞机组装中应用的6-DOF三重剪刀扩展机器人的设计和分析
Design and Analysis of 6-DOF Triple Scissor Extender Robots with Applications in Aircraft Assembly
论文作者
论文摘要
提出了一种具有可扩展结构的新型并行机器人机制，并分析了其运动学特性和设计参数。三重剪刀扩展器（TSE）是一种6个自由度的机器人机制，用于达到高天花板并定位末端效应器。并行排列三个剪刀机制，底端连接到线性载玻片，顶部顶点连接到末端效应器板上。可以通过位于基部的六个线性执行器的协调运动来实现终端效应器的任意位置和方向。通过更改关键几何参数，TSE的设计可以产生特定的所需工作区量和差异运动行为。得出了用于不同TSE的一般运动学模型，并评估了包括工作区，奇异性和雅各布奇异值在内的运动特性。从这些表达式中，可以确定四个关键的设计参数，并分析了它们对工作空间体积的敏感性和Jacobian单数值。使用从设计参数研究中获得的见解提出了自主飞机组装中的案例研究。
A new type of parallel robot mechanism with an extendable structure is presented, and its kinematic properties and design parameters are analyzed. The Triple Scissor Extender (TSE) is a 6 Degree-Of-Freedom robotic mechanism for reaching high ceilings and positioning an end effector. Three scissor mechanisms are arranged in parallel, with the bottom ends coupled to linear slides, and the top vertex attached to an end effector plate. Arbitrary positions and orientations of the end effector can be achieved through the coordinated motion of the six linear actuators located at the base. By changing key geometric parameters, the TSE's design can yield a specific desired workspace volume and differential motion behavior. A general kinematic model for diverse TSEs is derived, and the kinematic properties, including workspace, singularity, and the Jacobian singular values, are evaluated. From these expressions, four key design parameters are identified, and their sensitivity upon the workspace volume and the Jacobian singular values is analyzed. A case study in autonomous aircraft assembly is presented using the insights gained from the design parameter studies.
