6自由度3-U~r RS并联机构的逆运动学分析
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摘要
目前对6自由度空间并联机构的运动学研究较少,与其他机器人相比6足机器人具有承载能力强,通过性能高的优点,当6足机器人3条腿处于支撑相时,机体是6自由度3-U~rRS并联机构,能实现3维平移和3维转动,该机体具有3条支链,每条支链为URS(万向铰、转动铰和球铰)。对该并联机构进行运动学分析时,提出在动坐标系下进行运动学分析的方法,利用关节2和关节3轴线平行的结构特点,建立了位置逆解数学模型,最后利用ADAMS软件仿真验证位置逆解结果的正确性。该结果为提高六足机器人前行过程中的稳定性和协调性以及运动控制的精确性打下理论基础。
It is less for kinematic analysis of spatial 6-DOF parallel mechanism at present. Hexapod robot has better high performance of carrying and passing than other robots. It is a 3-U~rRS parallel mechanism with 6 degrees of freedom in support phase. It can move in three-dimensional translation and three-dimensional rotation. The mechanism has three branched chains. Each branched chain has three joints those are an universal hinge,a rotate hinge and a ball hinge. It was put forward the way that the kinematics analysis of parallel mechanism was carried out under the moving coordinate system. It was taking advantage of the parallel layout between the axis of second joint and the axis of third joint axis to establish the mathematical model of position inverse solution. The position inverse solution results were simulated to verify correct by the ADAMS software,finally. The results laid a theoretical foundation for improving the stability,coordination in the forward process and the contral accuracy of hexapod robot movement.
It is less for kinematic analysis of spatial 6-DOF parallel mechanism at present. Hexapod robot has better high performance of carrying and passing than other robots. It is a 3-U~rRS parallel mechanism with 6 degrees of freedom in support phase. It can move in three-dimensional translation and three-dimensional rotation. The mechanism has three branched chains. Each branched chain has three joints those are an universal hinge,a rotate hinge and a ball hinge. It was put forward the way that the kinematics analysis of parallel mechanism was carried out under the moving coordinate system. It was taking advantage of the parallel layout between the axis of second joint and the axis of third joint axis to establish the mathematical model of position inverse solution. The position inverse solution results were simulated to verify correct by the ADAMS software,finally. The results laid a theoretical foundation for improving the stability,coordination in the forward process and the contral accuracy of hexapod robot movement.
引文
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[16]常定勇,方跃法,叶伟.双输出3D打印解耦并联机器人的设计与分析[J].机械工程学报,2017,53(7):39-46.
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[18]ZHANG H,LIU Y B,ZHAO J,et al.Development of a bionic hexapod robot for walking on unstructured terrain[J].Journal of Bionic Engineering,2014,11(2):176-187.
[2]SERVET S,HASAN A.Kinematic and dynamic analysis of a hexapod walking-running-boundinggaits robot and control actions[J].Computers and Electrical Engineering,2012,38(2):444-458.
[3]CHEN J,LIU Y B,ZHAO J,et al.Biomimetic design and optimal swing of a hexapod robot leg[J].Journal of Bionic Engineering2014,11(1):26-35.
[4]GARCA-LPEZ,GORROSTIETA-HURTADO,VARGAS-SOTO,et al.Kinematic analysis for trajectory generation in one leg of a hexapod robot[J].Procedia Technology,2012,3(1):342-350.
[5]于常娟,张明路,李满宏.六足仿生机器人步态规划与足端可达空间分析[J].机械设计与研究,2014,30(5):53-55,67.
[6]柴馨雪,项济南,李秦川.2-UPR-RPU并联机构奇异分析[J].机械工程学报,2015,51(13):144-151.
[7]张彦斌,张树乾,吴鑫.3-CRPa移动并联机构运动学分析与仿真[J].农业机械学报,2012,43(7):200-205.
[8]陈修龙,孙先洋,邓昱.4-UPS-RPS空间5自由度并联机构运动学分析[J].农业机械学报,2013,44(8):257-261.
[9]朱大昌,严智敏,崔祥府,等.基于螺旋理论对3-RPS并联机器人运动学分析及仿真[J].机械科学与技术,2013,32,(1):28-31.
[10]LI Q H.Type synthesis of 3-DOF RPR-equivalent parallel mechanisms[J].IEEE Transactiaonson Robotics,2014,30(6):1333-1343.
[11]HUANG Z,LI Q,DING H.Theory of parallel mechanisms[M].Springer,2012.
[12]KANAAN D,WENGER P,CHABLAT D.Singularityanalysis of limited-DOF parallel manipulators using Grassmann-Cayley algebra[M].Advances in Robot Kinematics:Analysis and Design,Springer,2008.
[13]ZOPPI M,ZLATANOV D,GOSSELIN C M.Analytical kinematics models and special geometries of a class of 4-DOF parallel mechanisms[J].IEEE Transactions on Robotics,2005,21(6):1046-1055.
[14]PICCIN O,BAYLE B,MAURIN B,et al.Kinematic modeling of a5-DOF parallel mechanism for semi-spherical workspace[J].Mechanism and Machine Theory,2009,44(8):1485-1496.
[15]李秦川,陈巧红,胡旭东,等.对称五自由度3R2T并联机构的雅可比分析[J].中国机械工程,2008,19(14):1731-1735.
[16]常定勇,方跃法,叶伟.双输出3D打印解耦并联机器人的设计与分析[J].机械工程学报,2017,53(7):39-46.
[17]杨宏兵,高荣慧,李兵.六自由度并联机器人的运动学分析与仿真[J].机床与液压,2004(8):81-82.
[18]ZHANG H,LIU Y B,ZHAO J,et al.Development of a bionic hexapod robot for walking on unstructured terrain[J].Journal of Bionic Engineering,2014,11(2):176-187.