一种复杂曲面打磨机器人自适应贴合柔性机构研究
Exploring Adaptive Polishing Mechanism of a Complex Curved Surface Polishing Robot

针对工程中复杂曲面打磨困难的问题，提出一种能迅速贴合工件表面的柔顺混联式自适应机构，对其工作空间、运动学和动力学工作特性进行了分析研究。利用基于方位特征集的拓扑结构理论求解自适应机构的自由度、耦合度。利用数学应用软件对机构的参数进行数值计算，获得了自适应机构在抛光打磨过程中的工作特性曲线和工作空间模拟图。建立自适应机构的样机模型并进行样机实验，分析了在对模拟的复杂工件曲表面加工时的运动学和动力学特性，实验得出本设计相对传统机型的优势。
In order to overcome the difficulty in grinding a complex curved surface, we put forward a flexible and parallel serial adaptive polishing mechanism which can adapt to the surface of a workpiece quickly. Its work space, kinematic and dynamic characteristics have been analyzed. We analyzed its degrees of freedom and degrees of coupling with the theory of topological structure based on the position and orientation characteristic equations. The performance curve and simulated diagram of work space was obtained with MATLAB. The virtual prototype model of adaptive polishing mechanism was built; the kinematic and dynamic characteristics of the adaptive polishing mechanism of the complex curved surface were analyzed. Advantages over the traditional polishing mechanism were also obtained through experiments