Structure design and analysis of perfusion robot for a large-scale spherical honeycomb
YANG Hui
FANG Hairong
ZHOU Changchun
QU Haibo
Abstract：A three degrees of freedom (DOF) hybrid perfusion robot was designed,and the architectural model of the robot was constructed.The structure of the hybrid robot is simple and compact,and the robot takes a little space.The end of the perfusion apparatus always perpendicularly moves to the surface of spherical honeycomb,which is conducive to honeycomb perfusion.To improve the efficiency of the perfusion,the robot adopted the mode of multi-robot operation.Firstly,the kinematics constraint equations were established,through which the inverse kinematics was solved and velocity Jacobian matrix of the mechanism was established.Secondly,by using an efficient algorithm of numerical forward solution,the direct kinematics was analyzed,and the workspace of the mechanism was calculated based on the direct kinematics.Finally,kinematic dexterity and singularity of the mechanism were analyzed based on Jacobian matrix.It is concluded that the perfusion robot could achieve precise positioning of the honeycomb structure and reach the overall spherical surface,which can satisfy the perfusion requirements of thermal protection layer structure.
Keywords：spherical parallel mechanismperfusion robotkinematicsperformance analysis
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：8( 114-120,139 )