面向复杂曲面集群加工的混联机构设计与分析

doi:10.3901/JME.2025.21.389

摘要/Abstract

摘要： 为满足未来多任务场景下航天运载器贮箱加工需求，实现大型复杂曲面高质量、高效率加工，提出一种多机器人混联单元集群加工方法，并围绕其中的机器人混联单元构型设计难题，重点开展混联机构的设计与分析。首先，通过分析复杂曲面加工任务需求，构建了分区域协同作业的多机器人混联单元集群加工模式，并确定了机器人混联单元的功能要求。然后，设计了一种新型可重构大伸展6-PRRRR-P₁-SP₂S混联机构，并分析了其重构模式、自由度以及运动学。接着，以典型重构构型6-PRRRR-SP₂S混联机构为对象，通过开展运动学性能分析以及尺寸优化，有效提升了各项性能。最后，利用运动学理论计算与仿真分析，并搭建缩比样机实验平台，验证了机构功能可以满足要求。设计的可重构大伸展混联机构具有工作空间大、灵巧性高、刚度大的特点，为工程应用提供了理论支撑，未来可应用于大型贮箱复杂曲面的集群加工。

关键词: 大型复杂曲面, 集群加工, 混联机构, 构型设计, 性能分析

Abstract: To meet the demand for machining of space vehicle storage tanks in future multi-mission scenarios and to realize high-quality and high-efficiency machining of large complex curved surfaces, a multi-robot hybrid unit cluster machining method is proposed, and focuses on the design and analysis of the hybrid mechanism around the design problem of the robot hybrid unit. First, by analyzing the demand of complex surface machining tasks, the multi-robot hybrid cell cluster machining mode of sub-area cooperative operation is constructed, and the functional requirements of the robot hybrid unit are determined. Then, a novel reconfigurable large extension 6-PRRRR-P₁-SP₂S hybrid mechanism is designed, and its reconfiguration mode, degrees of freedom, and kinematics are analyzed. Then, taking the typical reconfigurable configuration 6-PRRRR-SP2S hybrid mechanism as an example, the kinematic performance analysis and dimensional optimization are carried out to effectively improve the performances. Finally, using the kinematic theory calculation and simulation analysis, and making a scaled-down prototype experimental platform, it is verified that the function of the mechanism can meet the requirements. The reconfigurable large extension hybrid mechanism designed is characterized by large workspace, high dexterity, and high stiffness. It provides theoretical support for engineering applications, and can be applied to cluster machining of large complex curved surfaces in the future.

Key words: large complex surfaces, cluster machining, hybrid mechanism, configuration design, performance analysis

中图分类号:

TH112
V475

赫利涛, 房海蓉, 陈宇飞, 金政贤. 面向复杂曲面集群加工的混联机构设计与分析[J]. 机械工程学报, 2025, 61(21): 389-402.

HE Litao, FANG Hairong, CHEN Yufei, JIN Zhengxian. Design and Analysis of a Hybrid Mechanism for Cluster Machining of Complex Curved Surface[J]. Journal of Mechanical Engineering, 2025, 61(21): 389-402.

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