Abstract
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. The 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.
Highlights
Pouring is the process of pouring the molten metal with high temperature from the ladle into the mould cavity
This paper focuses on analyzing of the kinematic characteristics of the proposed 4-UPU parallel mechanism and giving the kinematic closed solution to the mechanism
Based on the analysis of 3UPU parallel mechanism (3-degrees of freedom (DOF)) [21], a new type of 4-UPU parallel mechanism is proposed to meet the requirements of the pouring operation
Summary
Pouring is the process of pouring the molten metal with high temperature from the ladle into the mould cavity. The parallel mechanism has the advantages of compact structure, large rigidity, strong bearing capacity, and high accuracy [10] It is suitable for the tilting-typed automatic pouring equipment of actuators. The influence of melt in pouring mouth on pouring flow is too simplistic and fuzzy, and the model is usually effective only for specially designed ladle; the type of ladle commonly used in casting industry is rarely involved These problems hinder the development and promotion of products, and increase the difficulty and complexity of the flow control. Considering the high bearing capacity of parallel mechanism, a mobile casting robot is proposed in our research It can realize the flexibility of pouring equipment with many varieties and small batches with the ability of continuous pouring. Based on the analysis of 3UPU parallel mechanism (3-DOF) [21], a new type of 4-UPU parallel mechanism is proposed to meet the requirements of the pouring operation
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