Abstract
Aim to the problems of low load and precision of the serial manipulator used in casting operation. Casting execution equipment based on 2UPR-2RPU mechanism was designed. A prototype of heavy-duty casting robot has been proposed and developed. Based on the theory of robot topology, the mechanism constraint relation of the casting execution equipment was analyzed, and it is concluded that the casting actuator has three degrees of freedom. Both the inverse position equation of the casting execution equipment and axial velocity equation of branch chain were established. In this article, kinematics simulation of the casting execution equipment based on ADAMS software was presented, and its kinematics characteristics of each parallel branch chain were analyzed. The validity of this kinematics model of casting actuator was verified. Based on the working space analysis method for parallel mechanism, the working space range of casting execution equipment was simulated by the MATLAB software. This research provides a reference for expanding the application of hybrid structural robot in casting field and developing casting heavy-duty casting robotic products.
Highlights
Series manipulator has the characteristics of simple structure, high flexibility, convenient control, low cost, large movement space, and so on, and they are widely used in many fields.[1,2,3]
According to the kinematics model, the rod length of the parallel branch chain is a function of the configuration of the casting ladle, and can be expressed as li 1⁄4 f ða; b; g; px; py; pzÞ
When the branch chain mounting block moves up 150 mm along the Z-axis and reaches the limitation of Z-direction, the accessible motion position of the casting ladle reference point P is shown in Figure 8(b) to (d)
Summary
Series manipulator has the characteristics of simple structure, high flexibility, convenient control, low cost, large movement space, and so on, and they are widely used in many fields.[1,2,3] There are some problems existing in the casting industry, such as low location accuracy, low load, low flexibility, difficulty transferring, and so on.[4,5,6] On the contrary, the parallel mechanism has the characteristics of high motion accuracy, strong bearing capacity, and small motion inertia,[7,8,9,10] which makes up for the deficiency of series manipulators in casting operations. According to the kinematics model, the rod length of the parallel branch chain is a function of the configuration of the casting ladle, and can be expressed as li 1⁄4 f ða; b; g; px; py; pzÞ ð11Þ where a, b, and g are the rotation angle of the dynamic platform coordinate axes X0, Y0, and Z0 relative to the static coordinate axes X, Y, and Z, respectively. When the branch chain mounting block moves up 150 mm along the Z-axis and reaches the limitation of Z-direction, the accessible motion position of the casting ladle reference point P is shown in Figure 8(b) to (d).
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