Design Analysis and Implementation of Parallel Working Arm of Heavy Duty Pouring Robot
In order to solve the problems of low load， low flexibility and low precision in the pouring operations of serial robots widely used in foundry production， a new type of hybrid heavy-duty pouring robot is proposed. A three-degree-of-freedom parallel working arm based on 2UPR-2RPU mechanism is design...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2019-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.04.012 |
| _version_ | 1797818987005870080 |
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| author | Chengke Xu Chengjun Wang Yongcun Guo Long Li Lüzhong Ma |
| author_facet | Chengke Xu Chengjun Wang Yongcun Guo Long Li Lüzhong Ma |
| author_sort | Chengke Xu |
| collection | DOAJ |
| description | In order to solve the problems of low load， low flexibility and low precision in the pouring operations of serial robots widely used in foundry production， a new type of hybrid heavy-duty pouring robot is proposed. A three-degree-of-freedom parallel working arm based on 2UPR-2RPU mechanism is designed，the topology analysis and degrees of freedom calculation are carried out. By establishing the kinematics model and statics model of the parallel working arm， the variation law of the length of the mechanism branch with the angle of the pouring ladle is analyzed. The relationship between the condition of the branch and the stroke size and the position of the branch on the static platform is analyzed. The structure and parameters of the parallel working arm are optimized. For a ladle of 300 kg， a set of structural parameters with better comprehensive properties is selected out. After prototype trial production and testing， the results show that the design proposal and structural parameters of the parallel working arm are reasonable. |
| first_indexed | 2024-03-13T09:16:15Z |
| format | Article |
| id | doaj.art-860ba6b7fcef4bccaa0225f19b970432 |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2024-03-13T09:16:15Z |
| publishDate | 2019-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-860ba6b7fcef4bccaa0225f19b9704322023-05-26T09:54:26ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392019-01-0143687330647235Design Analysis and Implementation of Parallel Working Arm of Heavy Duty Pouring RobotChengke XuChengjun WangYongcun GuoLong LiLüzhong MaIn order to solve the problems of low load， low flexibility and low precision in the pouring operations of serial robots widely used in foundry production， a new type of hybrid heavy-duty pouring robot is proposed. A three-degree-of-freedom parallel working arm based on 2UPR-2RPU mechanism is designed，the topology analysis and degrees of freedom calculation are carried out. By establishing the kinematics model and statics model of the parallel working arm， the variation law of the length of the mechanism branch with the angle of the pouring ladle is analyzed. The relationship between the condition of the branch and the stroke size and the position of the branch on the static platform is analyzed. The structure and parameters of the parallel working arm are optimized. For a ladle of 300 kg， a set of structural parameters with better comprehensive properties is selected out. After prototype trial production and testing， the results show that the design proposal and structural parameters of the parallel working arm are reasonable.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.04.012Pouring robot;Heavy duty;Parallel working arm;Force analysis;Optimum design |
| spellingShingle | Chengke Xu Chengjun Wang Yongcun Guo Long Li Lüzhong Ma Design Analysis and Implementation of Parallel Working Arm of Heavy Duty Pouring Robot Jixie chuandong Pouring robot;Heavy duty;Parallel working arm;Force analysis;Optimum design |
| title | Design Analysis and Implementation of Parallel Working Arm of Heavy Duty Pouring Robot |
| title_full | Design Analysis and Implementation of Parallel Working Arm of Heavy Duty Pouring Robot |
| title_fullStr | Design Analysis and Implementation of Parallel Working Arm of Heavy Duty Pouring Robot |
| title_full_unstemmed | Design Analysis and Implementation of Parallel Working Arm of Heavy Duty Pouring Robot |
| title_short | Design Analysis and Implementation of Parallel Working Arm of Heavy Duty Pouring Robot |
| title_sort | design analysis and implementation of parallel working arm of heavy duty pouring robot |
| topic | Pouring robot;Heavy duty;Parallel working arm;Force analysis;Optimum design |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.04.012 |
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