Mechanism Design and Motion Analysis of Heavy⁃Load Transfer Robot with Parallel Four⁃Bar Mechanism

作     者：ZHANG Jing WANG Dongbao WU Guangping GUO Hongwei LIU Rongqiang 张静;王东宝;武广平;郭宏伟;刘荣强

作者机构：College of Mechanical and Vehicle EngineeringTaiyuan University of TechnologyTaiyuan 030024P.R.China School of Electronic Information and Electrical EngineeringShanghai Jiao Tong UniversityShanghai 200240P.R.China State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin 150001P.R.China 

出 版 物：《Transactions of Nanjing University of Aeronautics and Astronautics》 (南京航空航天大学学报（英文版）)

年 卷 期：2022年第39卷第5期

页      面：606-618页

核心收录：

学科分类：08[工学] 0802[工学-机械工程] 080201[工学-机械制造及其自动化] 

基　　金：supported by the National Key R&D Program of China(No.2018YFB1307900) the Natural Science Foundation of Shanxi Province(Nos.201901D211009,201901D211010) the Technology In⁃novation Foundation of Shanxi University(No.2019L 0177) 

主　　题：parameter optimization motion analysis mechanism design transfer robot heavy-load 

摘      要：Heavy-load transfer robots are widely used in automobile production and machinery manufacturing to improve production *** order to meet the needs of large billet transfer,a 4-DOF transfer robot is designed in this paper,which consists of parallel four-bar *** Jacobian matrix referring to the mapping matrix from the joint velocity to the operating space velocity of the transfer robot can be solved by the differential-vector *** mean value of the Jacobian matrix condition number in the workspace is used as the global performance index of the robot velocity and the optimization *** constraint condition is established based on the actual working *** the linkage length optimization is carried out to decrease the length of the linkage and to increase the global performance index of *** total length of robot rods is reduced by 6.12%.The global performance index of velocity is improved by 45.15%.Taking the optimized rod length as the mechanism parameter,the distribution of the motion space of the transfer robot is ***,the results show that the proposed method for establishing the Jacobian matrix of the lower-mobility robot and for the optimization of the rods based on the velocity global performance index is accurate and *** workspace distribution of the robot meets the design requirements.