一种三自由度并联解耦机构的型综合
|
摘要
基于李群分析了2T1R并联机构动平台运动的几何条件,得到满足动平台运动要求的李群结构。通过线性组合得到多种满足光滑位移子流形的支链构型。建立了并联解耦机构的设计准则。以此为据,得到了2T1R并联解耦机构的KP(kinematic pair)旋量系。从满足三维及四维光滑位移子流形的支链构型中确定出满足解耦条件的支链集。综合出9种基于基本副的2T1R并联解耦机构,绘制了构型简图。应用旋量理论对机构的输出特性进行了验证。研究表明:以李群作为型综合的基础,采用旋量理论进行解耦优化,对于并联解耦机构的型综合具有普适性。
2T1R parallel mechanisms are analyzed based on Liegroup. Lie group structures are obtained to meet the character of the moving platform. Chain structures are got through the linear combination of Lie groups. The design criteria are established for the decoupling mechanism. According to the design criteria,the kinematic pair screw system of 2T1 R decoupling parallel mechanisms are attained. The chain set of satisfied the decoupled condition are established from the chain type meet smooth displacement submanifolds. Nine mechanisms are synthesized based on three and four dimensional submanifoldsl dimensional chains and the figure of configuration are shown. The output characters of the mechanism are verified based on screw theory. The research shown: the Lie group can be the foundation of the type synthesis and the screw theory are adopt to optimization decoupling parallel mechanism has great universality.
2T1R parallel mechanisms are analyzed based on Liegroup. Lie group structures are obtained to meet the character of the moving platform. Chain structures are got through the linear combination of Lie groups. The design criteria are established for the decoupling mechanism. According to the design criteria,the kinematic pair screw system of 2T1 R decoupling parallel mechanisms are attained. The chain set of satisfied the decoupled condition are established from the chain type meet smooth displacement submanifolds. Nine mechanisms are synthesized based on three and four dimensional submanifoldsl dimensional chains and the figure of configuration are shown. The output characters of the mechanism are verified based on screw theory. The research shown: the Lie group can be the foundation of the type synthesis and the screw theory are adopt to optimization decoupling parallel mechanism has great universality.
引文
[1]Herve J M.Structural synthesis of parallel robots generating spatial translation[J].Mechanism and Machine Theory,1991(1):808-813.
[2]HERVE J M.The Lie group of rigid body displacements,a fundamentaltool for mechanism design[J].Mechanism and Machine Theory,1999,34(5):719-730.
[3]JORGE ANGELES.Fundamentals of robot mechanical systems:theory,methods,algorithms[M].3th ed Spring,2007.
[4]OSCAR SALGADO.A parallelogram-based parallelmanipulator for schonflies motion[J].Journal of Mechanical Design,2007,129(12):1243-1250.
[5]OSCAR SALGADO.Synthesis and design of a novel 3T1R fullyparallel manipulator[J].Journal of Mechanical Design,2008,130(4):1-8.
[6]李秦川,黄真.基于位移子群分析的3自由度移动并联机构型综合[J].机械工程学报,2003,(6):18-21.
[7]付铁,韩信,朱涯涯,等.基于李群理论的2R1T并联机构构型综合[J].北京理工大学学报,2014(11):1106-1109.
[8]KONG X W,GOSSELIN C M.Type synthesis of linear translational parallelmanipulators[M]//Advances in robot kinematics-theory and Application,Kluwer Academic publishers,2002:453-462.
[9]GOGU G.Structural synthesis of fully—isotropic translational parallel robots via theory of linear transformations[J].European Journal of Mechanics a/Solid,2004,23:1021-1039.
[10]GLAZUNOV V.Design of decoupled parallel manipulators by means of the theory of screws[J].Mechanism and Machine Theory,2010,45(2):239-250.
[11]ZENG D X,HUANG Z.Type synthesis of the rotational decoupled parallel mechanism based on screw theory[J].Science China technological Sciences,2011,54(4):998-1004.
[12]张彦斌,吴鑫,刘宏昭.完全各向同性2T1R空间并联机器人机构型综合[J].农业机械学报,2011,42(11):200-207.
[13]张彦斌,王慧萍,吴鑫.完全各向同性3自由度平面并联机构的型综合[J].光学精密工程,2012(3):579-586.
[14]秦友蕾,曹毅,陈海,等.完全解耦3T2R并联机器人机构型综合[J].航空学报,2015,35(25):1-8.
[2]HERVE J M.The Lie group of rigid body displacements,a fundamentaltool for mechanism design[J].Mechanism and Machine Theory,1999,34(5):719-730.
[3]JORGE ANGELES.Fundamentals of robot mechanical systems:theory,methods,algorithms[M].3th ed Spring,2007.
[4]OSCAR SALGADO.A parallelogram-based parallelmanipulator for schonflies motion[J].Journal of Mechanical Design,2007,129(12):1243-1250.
[5]OSCAR SALGADO.Synthesis and design of a novel 3T1R fullyparallel manipulator[J].Journal of Mechanical Design,2008,130(4):1-8.
[6]李秦川,黄真.基于位移子群分析的3自由度移动并联机构型综合[J].机械工程学报,2003,(6):18-21.
[7]付铁,韩信,朱涯涯,等.基于李群理论的2R1T并联机构构型综合[J].北京理工大学学报,2014(11):1106-1109.
[8]KONG X W,GOSSELIN C M.Type synthesis of linear translational parallelmanipulators[M]//Advances in robot kinematics-theory and Application,Kluwer Academic publishers,2002:453-462.
[9]GOGU G.Structural synthesis of fully—isotropic translational parallel robots via theory of linear transformations[J].European Journal of Mechanics a/Solid,2004,23:1021-1039.
[10]GLAZUNOV V.Design of decoupled parallel manipulators by means of the theory of screws[J].Mechanism and Machine Theory,2010,45(2):239-250.
[11]ZENG D X,HUANG Z.Type synthesis of the rotational decoupled parallel mechanism based on screw theory[J].Science China technological Sciences,2011,54(4):998-1004.
[12]张彦斌,吴鑫,刘宏昭.完全各向同性2T1R空间并联机器人机构型综合[J].农业机械学报,2011,42(11):200-207.
[13]张彦斌,王慧萍,吴鑫.完全各向同性3自由度平面并联机构的型综合[J].光学精密工程,2012(3):579-586.
[14]秦友蕾,曹毅,陈海,等.完全解耦3T2R并联机器人机构型综合[J].航空学报,2015,35(25):1-8.