二元驱动串并联机器人结构参数约束条件分析
|
摘要
以平面变几何桁架机构为二元驱动串并联机器人基本模块,将基本模块串联起来构成二元驱动串并联机器人离散系统,推导其正运动学方程,分析了其末端执行器的位置空间和姿态变化范围。根据上、下平台之间相对姿态转角为实数的约束条件,采用MATLAB语言编写并计算正运动学方程,以确定驱动腿变化量与结构参数之间的关系。该方法避免了因结构参数选取不当而无法求得姿态角的问题。该结论为二元驱动串并联机器人的结构设计与优化提供了理论基础。
Considering planar variable geometry truss(VGT) mechanismas basic module,a planar binary driving series-parallel robot has been built. The forward kinematics equations of each module was deducted,and the workspace and posture range of its end-effector was obtained. The relationship between the stroke of actuators and the structure parameters was acquired by solving the forward kinematics equations in MATLAB,which is based on the constrain condition that the relative posture angle between upper platform and lower platform must be real number. This method,which is proposed in it,can avoid the insolubility of posture angle because of improper structure parameters,andprovide the design idea of the same kind robots.
Considering planar variable geometry truss(VGT) mechanismas basic module,a planar binary driving series-parallel robot has been built. The forward kinematics equations of each module was deducted,and the workspace and posture range of its end-effector was obtained. The relationship between the stroke of actuators and the structure parameters was acquired by solving the forward kinematics equations in MATLAB,which is based on the constrain condition that the relative posture angle between upper platform and lower platform must be real number. This method,which is proposed in it,can avoid the insolubility of posture angle because of improper structure parameters,andprovide the design idea of the same kind robots.
引文
[1]沈惠平,邓嘉鸣,李菊.少维输入-多维期望运动输出并联机构及其应用[J].机械设计与制造工程,2013,42(6):1-4.(Shen Hui-ping,Deng Jia-ming,Li Ju.Fewer inputs-more expected outputs parallel mechanisms and application[J].Mechanical Design and Manufacturing,2013,42(6):1-4.)
[2]Lees D S,Chirikjian G S.An efficient method for computing the forward kinematics of binary manipulators[J].IEEEXplore,1996(2):1012-1017.
[3]Chirikjian G S.A Binary Paradigm for Robotic Manipulators[C].Boston,USA:IEEE International Conference on Robotics and Automation,1994:3063-3069.
[4]Chirikjian G S.Kinematic synthesis of mechanisms and robotic manipulators with binary actuators[J].Journal of Mechanical Design,1995,117(4):573-580.
[5]Sujan V A,Lichter M D,Dubowsky S.Lightweight Hyper-Redundant Binary Elements for Planetary Exploration Robots[C].Boston,USA:IEEE International Conference on Advanced Intelligent Mechatronics,2001:1273-1278.
[6]Wingert A,Lichter M D,Dubowsky S.Hyper-Redundant Robot Manipulators Actuated by Optimized Binary-Dielectric Polymers[C].Spie’,International Symposium on Smart Structures and Materials,2002:415-423.
[7]Wingert A,Lichter M.,Dubowsky S.On the kinematics of parallel mechanisms with bi-stable polymer actuators[J].Proceedings of the 8th International Symposium on Advances in Robot Kinematics,2002:303-310.
[8]Kim Y,Jang G W,Nam S J.Inverse kinematics of binary manipulators by using the continuous-variable-based optimization method[J].IEEE Transactions on Robotics,2006,22(1):33-42.
[9]Rad C R,Stan S,Balan R.Forward Kinematics and Workspace Analysis of a 3-RPS Medical Parallel Robot[C].IEEE International Conference on Automation Quality and Testing Robotics,2010:1-6.
[10]张一超,祁新梅,郑寿森.智能材料DE驱动的两态串并联机器人系统的运动特性[J].机器人,2010,32(6):749-753.(Zhang Yi-chao,Qi Xin-mei,Zheng Shou-sen.Kinematic characteristics of smart material DEactuated binary serial-parallel robot system[J].Robot,2010,32(6):749-753.)
[2]Lees D S,Chirikjian G S.An efficient method for computing the forward kinematics of binary manipulators[J].IEEEXplore,1996(2):1012-1017.
[3]Chirikjian G S.A Binary Paradigm for Robotic Manipulators[C].Boston,USA:IEEE International Conference on Robotics and Automation,1994:3063-3069.
[4]Chirikjian G S.Kinematic synthesis of mechanisms and robotic manipulators with binary actuators[J].Journal of Mechanical Design,1995,117(4):573-580.
[5]Sujan V A,Lichter M D,Dubowsky S.Lightweight Hyper-Redundant Binary Elements for Planetary Exploration Robots[C].Boston,USA:IEEE International Conference on Advanced Intelligent Mechatronics,2001:1273-1278.
[6]Wingert A,Lichter M D,Dubowsky S.Hyper-Redundant Robot Manipulators Actuated by Optimized Binary-Dielectric Polymers[C].Spie’,International Symposium on Smart Structures and Materials,2002:415-423.
[7]Wingert A,Lichter M.,Dubowsky S.On the kinematics of parallel mechanisms with bi-stable polymer actuators[J].Proceedings of the 8th International Symposium on Advances in Robot Kinematics,2002:303-310.
[8]Kim Y,Jang G W,Nam S J.Inverse kinematics of binary manipulators by using the continuous-variable-based optimization method[J].IEEE Transactions on Robotics,2006,22(1):33-42.
[9]Rad C R,Stan S,Balan R.Forward Kinematics and Workspace Analysis of a 3-RPS Medical Parallel Robot[C].IEEE International Conference on Automation Quality and Testing Robotics,2010:1-6.
[10]张一超,祁新梅,郑寿森.智能材料DE驱动的两态串并联机器人系统的运动特性[J].机器人,2010,32(6):749-753.(Zhang Yi-chao,Qi Xin-mei,Zheng Shou-sen.Kinematic characteristics of smart material DEactuated binary serial-parallel robot system[J].Robot,2010,32(6):749-753.)