湖北师范大学学报(自然科学版)

针对传统工业串联式打磨机器人在作业过程中效率低、运动精度差等问题，设计了一种混联式高效打磨机器人。基于TRIZ理论的功能模型、因果轴分析，找出当前打磨机器人的问题在于末端执行器灵活度不足，缺乏多自由度重载工作臂，缺乏可移动装置。利用技术矛盾法、物理矛盾法以及物-场模型等得出解决方案，设计出混联式可移动打磨机器人。并对打磨机器人并联工作臂进行简化，通过ADAMS进行运动学仿真，得到打磨作业时动平台各轴向速度变化平稳，满足作业需求，设计合理。

In this study,a hybrid efficient grinding robot was designed to solve the problems of low efficiency and poor motion accuracy during the operation of traditional industrial tandem grinding robots. Based on the functional model and causal axis analysis of TRIZ theory,it identified that the problems of current grinding robots were caused by insufficient flexibility of the end-effector,lack of multi-degree-of-freedom heavy-duty working arm,and lack of movable device. Also it used the technical contradiction method,the physical contradiction method and the object-field model to obtain the solution,and designed an innovative hybrid mobile grinding robot. This study not only simplified the parallel working arm of the grinding robot,but also performed the kinematic simulation by ADAMS to obtain stable axial velocity changes in each axial direction during grinding operations,which met the operational requirements and verifies the rationality of the design.