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小型喷浆机器人的前臂是一种平行四连杆机构,前臂在工作过程中要实现水平左右±45°的摆动。经过筛选,对其驱动装置的设计选用了液压缸驱动。液压缸工作时,在极限位置既要能达到调姿范围要求,又不能使驱动产生机械自锁;在此基础上,各部分结构应尽量紧凑,液压缸长度尽量短。为此,对前臂摆动机构采取了优化设计,并将优化结果带入仿真程序进行检验,获得了满意的结果。
Small spray gun robot forearm is a parallel four-bar linkage, forearm in the course of the work to achieve horizontal ± 45 ° swing. After screening, the design of its drive selection of the hydraulic cylinder drive. Hydraulic cylinder work, it is necessary to reach the limit position in tune position range requirements, but also can not drive the mechanical self-locking; On this basis, the various parts of the structure should be as compact as possible, hydraulic cylinder length as short as possible. To this end, the forearm swing mechanism to take the optimal design, and the optimization results into the simulation program for testing, obtained satisfactory results.