Research Progress and Development Trends in Key Technologies of Large-scale Rigid-flexible Coupling Robots

doi:10.3901/JME.2024.23.021

Abstract

Abstract: In large-scale and complex environments, automation and intelligent operations are of paramount importance in high-end manufacturing, aerospace, and major national projects. And they represent the level of innovative technology in the national manufacturing industry. Large-scale rigid-flexible coupling robots are primarily designed for complex operations in a large-scale environment, combining both rigid and flexible driven characteristics. These robots exhibit high levels of motion flexibility and mechanism adaptability in extensive, large-scale environments. Their emergence and development rely on the interdisciplinary fusion of mechanics, new materials, dynamics, and intelligent control. Focusing on the core theories and key technologies of large-scale rigid-flexible coupling robots, an overview of current research achievements in areas including the driving mechanisms and mechanism design, system modeling and performance analysis, as well as control and motion planning for large-scale rigid-flexible coupling robots are presented. Additionally, the typical applications of these robots in engineering are summarized, and the fundamental theory and key technologies for the future development trends of large-scale rigid-flexible coupling robots are reviewed and forecasted.

Key words: large-scale rigid-flexible coupling robots, mechanism design, system modeling, planning and control, engineering application

CLC Number:

TP242

ZI Bin, ZHAO Jiahao, WANG Wei, DU Jingli, YANG Guilin. Research Progress and Development Trends in Key Technologies of Large-scale Rigid-flexible Coupling Robots[J]. Journal of Mechanical Engineering, 2024, 60(23): 21-42.

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