Abstract
Manual grinding is still the most common treatment method for rod surface defects in special steel factory. In order to realize the robot to replace the workers to complete this work, this paper proposes a 5-degree-of-freedom parallel driving grinding manipulator based on the process of manual grinding. At first, the topological structure and degree of freedom configuration of the mechanism composed of human arm are analyzed. The motional characteristics of the grinding manipulator are determined based on the requirements of rod grinding technology. Then, a variety of executive mechanisms are synthesized. Based on a typical configuration of these executive mechanisms, a parallel driving grinding manipulator with multi branches coupling similar to human upper limb structure is designed. Final, the motional performance evaluation index of the manipulator is defined and the local motional performance of the manipulator is evaluated. The research contents of this paper lay a theoretical foundation for its prototype design and development.
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Acknowledgment
The authors would like to acknowledge: (1) Project (51905367) supported by The National Nature Science Foundation of China, (2) Project (2018YFB1308702) supported by The National Key Research and Development Program of China, (3) Project (SKLRS-2020-KF-17) supported by The Open Foundation of the State key Laboratory, (4) Project (201901D211011) supported by The Foundation of Applied Basic Research General Youth Program of Shanxi, (5) Project (2019L0176) supported by The Scientific and Technological Innovation Programs of Higher Education Institutions of Shanxi, (6) Project (20181102016, 20181102015) supported by The Major Special Program of Science and Technology of Shanxi, (7) Project (YDZX20191400002149) supported by The Central Government Guides Special Funds for Local Science and Technology Development.
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Zhang, J., Shi, H., Wang, T., Liu, X., Jiang, L., Huang, Q. (2021). Configuration Design and Evaluation of Bionic Grinding Manipulator Based on Human Upper Limb. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13015. Springer, Cham. https://doi.org/10.1007/978-3-030-89134-3_59
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DOI: https://doi.org/10.1007/978-3-030-89134-3_59
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