多自由度混合冗余驱动机构运动学及可控性分析
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摘要
提出了兼有混合驱动机构和冗余驱动机构的特点的n-DOF(自由度)混合冗余驱动机构(hybrid redundantly driven mechanism,HRDM)。n-DOF的HRDM由n条对称分布于静、动平台对整个机构不产生约束的支链和一条中间混合冗余驱动支链(hybrid redundantly driven limb,HRDL)组成。机构的自由度由中间支链决定,中间支链由常速电机和伺服电机共同驱动。建立了机构的位置逆解数学模型,进一步对该类机构的可控性进行了研究,得出此类新型混合驱动的空间机构运动是完全可控的。最后,以5-DOF 4-PSS/4R2U HRDM为例,规划工作空间内螺旋曲线,综合运用Matlab和Adams软件验证了所建立的运动学模型的正确性以及机构运动的可控性。研究结果为空间混合驱动机构的发展奠定了理论基础。
n-DOF hybrid redundantly driven mechanism (HRDM) was proposed which had the characteristics of hybrid driven mechanism and redundantly actuated mechanism. The mechanism with n-DOF was composed of n limbs distributed symmetrically in the static and moving platform without any restriction on the whole mechanism and one limb called hybrid redundantly driven limb (HRDL). The degree of freedom of the mechanism was determined by the intermediate branch chain,which was jointly driven by constant speed motor and servo motor. The mathematical model of the inverse solution of the position of the mechanism was established,and the controllability of the mechanism was further studied. Taking 5-DOF HRDM configuration 4-PSS/4R2U as an example,the correctness of the kinematics model of the mechanism was verified using Matlab and Adams software. The motion of the mechanism was completely controllable. The research results provide a theoretical basis for the development of spatial hybrid driven mechanism.
n-DOF hybrid redundantly driven mechanism (HRDM) was proposed which had the characteristics of hybrid driven mechanism and redundantly actuated mechanism. The mechanism with n-DOF was composed of n limbs distributed symmetrically in the static and moving platform without any restriction on the whole mechanism and one limb called hybrid redundantly driven limb (HRDL). The degree of freedom of the mechanism was determined by the intermediate branch chain,which was jointly driven by constant speed motor and servo motor. The mathematical model of the inverse solution of the position of the mechanism was established,and the controllability of the mechanism was further studied. Taking 5-DOF HRDM configuration 4-PSS/4R2U as an example,the correctness of the kinematics model of the mechanism was verified using Matlab and Adams software. The motion of the mechanism was completely controllable. The research results provide a theoretical basis for the development of spatial hybrid driven mechanism.
引文
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3周双林,郭为忠,姚燕安.混合输入五杆机构柔性工作空间的分析[J].上海交通大学学报,2001,35(12):1821-1824Zhou Shuanglin,Guo Weizhong,Yao Yanan,et al.Analysis of workspace of the hybrid input five-bar mechanism[J].Journal of Shanghai Jiaotong University,2001,35(12):1821-1824
4孙志宏,翟祥勇,李子军.基于阿苏尔杆组的混合驱动机构动力学建模分析[J].东华大学学报(自然科学版),2015,41(1):91-95,129Sun Zhihong,Zhai Xiangyong,Li Zijun,et al.Dynamic modeling analysis by Assur groups on hybrid actuation mechanisms[J].Journal of Donghua University(Natural Science Edition),2015,41(1):91-95,129
5马承文,邹慧君,方新国,等.混合驱动五杆机构的轨迹规划[J].上海交通大学学报,2003,37(1):88-89,96Ma Chengwen,Zou Huijun,Fang Xinguo,et al.Optimization in path generation for the hybrid five-bar mechanism[J].Journal of Shanghai Jiaotong University,2003,37(1):88-89,96
6曹建斌,訾斌.混合驱动平面五连杆机构优化设计与迭代学习控制[J].机械传动,2011,35(6):1-5Cao Jianbin,Zi Bin.Optimization design and iterative learning control of hybrid-driven planar five-bar mechanism[J].Journal of Mechanical Transmission,2011,35(6):1-5
7李瑞琴,王英,王明亚,等.混合驱动机构研究进展与发展趋势[J].机械工程学报,2016,52(13):1-9Li Ruiqin,Wang Ying,Wang Mingya,et al.Research progress and development trend of hybrid-driven mechanism[J].Journal of Mechanical Engineering,2016,52(13):1-9
8 Ebrahimi I,Carretero J A,Boudreau R.3-PRRR redundant planar parallel manipulator:inverse displacement,workspace and singularity analyses[J].Mechanism and Machine Theory,2007,42(8):1007-1016
9 Li R Q,Dai J S.Crank conditions and rotatability of 3-RRR planar parallel mechanisms[J].Science in China Series E:Technological Sciences,2009,52(12):3601-3612
10 Zhang D,Gosselin C M.Kinetostatic modeling of N-DOF parallel mechanisms with a passive constraining leg and prismatic actuators[J].ASME Journal of Mechanical Design,2001,123(3):375-381
11 Zhang D,Gosselin G M.Kinetostatic modeling of parallel mechanisms with a passive constraining leg and revolute actuators[J].Mechanism and Machine Theory,2002,37(6):599-617
12陈修龙,孙德才,王清,等.基于拉格朗日的冗余驱动并联机构刚体动力学建模[J].农业机械学报,2015,46(12):329-336Chen Xiulong,Sun Decai,Wang Qing,et al.Rigid dynamics modeling of redundant actuation parallel mechanism based on Lagrange method[J].Transactions of the Chinese Society of Agricultural Machinery,2015,46(12):329-336
13 Craig J J.Introduction to robotics:mechanics and control[M].3rd ed.New Jersey:Pearson Prentice Hall,2005
14蔡自兴,谢斌.机器人学[M].第3版.北京:清华大学出版社,2015Cai Zixing,Xie Bin.Robotics[M].3rd ed.Beijing:Tsinghua University Press,2015