关键词: 柔性制造, 机器人加工, 移动机器人, 并联机器人, 运动学

Abstract: Unlike the traditional CNC processing in which the work pieces are clamped on the machine in turn to complete the machining, the parts are immobilized in mobile robotic machining based on flexible manufacturing and various machining robots are moved to the work pieces for processing. In view of this new processing paradigm, an autonomous mobile robotic machining unit consisting of a parallel robot, an electric spindle and an omnidirectional mobile platform is proposed. At first, its 3D virtual machine model in SolidWorks is constructed. And the theoretical model to obtain its normal and inverse kinematic solution is established. By comparing the Matlab simulation results based on the theoretical model and ADAMS simulation results based on virtual machine model, the correctness of the virtual machine is validated. Thereafter the mechanic simulation and modal analysis in ANSYS based on the virtual machine is carried out, which shows that the tiger hinges near the upper platform, the electric spindle shank and the mobile platform bumper are the weak parts of the unit. This provides an important basis for its structural optimization. And the virtual machine constructed also provides a fundamental basis to establish its digital twin model.

Key words: flexible manufacturing, robotic machining, mobile robot, parallel robot, kinematics