Mechanism Synthesis and Workspace Analysis of a Spraying Robot for Airfoil

被引：1

作者：

Zhu, Lizhong ^{[1
]}

Wang, Liping ^{[1
,2
]}

Zhao, Jingshan ^{[3
]}

机构：

[1] Univ Elect Sci & Technol China, Sch Mechatron Engn, Chengdu 611731, Sichuan, Peoples R China

[2] Tsinghua Univ, Dept Mech Engn, Inst Mfg Engn, Beijing 100084, Peoples R China

[3] Tsinghua Univ, Dept Mech Engn, Inst Design Engn, Beijing 100084, Peoples R China

来源：

ADVANCES IN RECONFIGURABLE MECHANISMS AND ROBOTS II | 2016年 / 36卷

基金：

中国国家自然科学基金;

关键词：

Spraying robot; Mechanism synthesis; Four-bar linkage; Reachable workspace; HYBRID; MANIPULATOR; KINEMATICS;

D O I：

10.1007/978-3-319-23327-7_57

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

With the rapid development of civil aviation industry, spraying robot with large workspace is demanded imperatively in applications, especially for airplane components. In order to achieve the automatic spraying process of an airfoil, a hybrid spraying robot is designed. The work mainly includes mechanism synthesis and its workspace analysis. Mechanism synthesis starts from the bionic serial mechanism, and then a hybrid mechanism made up with multiple parallel four-bar linkages is synthesized in order to meet the explosion proof requirement in combustible environment of spraying process. According to the structure of the spraying robot, forward kinematics is conducted and the reachable workspace of the robot is analyzed based on the Monte Carlo method.

引用

页码：669 / 679

页数：11

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