一类两转动自由度完全解耦的三支链两转一移并联机构
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摘要
提出了含恰约束支链两转一移3自由度并联机构(2R1T)两转动自由度完全相互解耦的两个充分条件,设计得到了两转动自由度完全解耦的2R1T并联机构RRU-UUR-RPR和RPU-UPR-RPR,采用螺旋理论对机构自由度性质进行了分析,得到机构两条连续转动轴线的分布。然后建立机构输入位移与位姿输出之间的映射模型,根据转动自由度完全解耦的数学描述,分析得到该机构两转动自由度是完全解耦的。最后比较分析了该类机构与其他两转一移三支链并联机构含有的被动单自由度运动副数目,该类机构含有的被动运动副数目仅为8,易于实现高结构刚度的目标,具有广阔的应用前景。
In this article, for the 2 R1 T fully-decoupled three-degree-of-freedom parallel mechanism with constraint branches, two sufficient conditions for the full decoupling of two rotational degrees of freedom are identified; the 2 R1 T fully-decoupled parallel mechanism RRU-UUR-RPR and RPU-UPR-RPR with two rotational degrees of freedom are developed. The mobility of these mechanisms is analyzed by means of the screw theory, and the distribution of two continuous rotational axes is obtained.Then, the mapping model between the mechanism's input displacement and its output pose is established.According to the mathematical expression of the fully-decoupled rotational degree of freedom, it is found that the two rotational degrees of freedom of the mechanism are fully decoupled.Finally, the comparative analysis is conducted on the number of the passive singledegree-of-freedom joints contained in this mechanism and the other three-branch 2 R1 T mechanisms, and the number for this mechanism is eight, which ensures a high standard of structural rigidity. Thus, this mechanism has a wide scope of application.
In this article, for the 2 R1 T fully-decoupled three-degree-of-freedom parallel mechanism with constraint branches, two sufficient conditions for the full decoupling of two rotational degrees of freedom are identified; the 2 R1 T fully-decoupled parallel mechanism RRU-UUR-RPR and RPU-UPR-RPR with two rotational degrees of freedom are developed. The mobility of these mechanisms is analyzed by means of the screw theory, and the distribution of two continuous rotational axes is obtained.Then, the mapping model between the mechanism's input displacement and its output pose is established.According to the mathematical expression of the fully-decoupled rotational degree of freedom, it is found that the two rotational degrees of freedom of the mechanism are fully decoupled.Finally, the comparative analysis is conducted on the number of the passive singledegree-of-freedom joints contained in this mechanism and the other three-branch 2 R1 T mechanisms, and the number for this mechanism is eight, which ensures a high standard of structural rigidity. Thus, this mechanism has a wide scope of application.
引文
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[2] Jin Y,Bi Z M,Liu H T,et al. Kinematic analysis and dimensional synthesis of Exechon parallel kinematic machine for large volume machining[J]. Journal of Mechanisms and Robotics,2015,7(4):041004.
[3] Sun T,Song Y M. Dimensional synthesis of a 3-DOF parallel manipulator based on dimensionally homogeneous jacobianmatrix[J]. Science China Technological Sciences,2010,53(1):168-174.
[4] Hunt K H. Structural kinematics of In-Parallel-Actuated robot arms[J]. Journal of Mechanisms, Transmissions,and Automation in Design, Transactions of the ASME,1983, 105:705-712.
[5] Gregorio R D. Inverse position analysis,workspace determination and position synthesis of parallel manipulators with 3-RSR topology[J]. Robotica,2003,21(6):627-632.
[6] Wahl J. Articulated tool head:Germany,WO2000025976A2[P]. 2001-05-11.
[7] Huang T,Li M,ZhaoX M,et al. Conceptual design and dimensional synthesis for a 3-DOF module of the TriVarian-a novel 5-DOF reconfigurable hybrid robot[J]. IEEE Transactions on Robotics,2005,21(3):449-456.
[8] Li Q C,HervéJ M. 1T2R parallel mechanisms without parasitic motion[J]. IEEE Transactions on Robotics,2010,26(3):401-410.
[9]陈子明,张扬,黄坤,等.一种无伴随运动的对称两转一移并联机构[J].机械工程学报,2016,52(3):9-17.
[10] Gao F,Yang J L,Ge Q J. Type synthesis of parallel mechanisms having the second class GF sets and two dimensional rotations[J]. Journal of Mechanical Design,2011,3(1):1-8.
[11]张东胜,许允斗,姚建涛,等.五自由度混联机器人逆动力学分析[J].农业机械学报,2017,48(9):384-391.
[12]郭为忠,郭令,高峰.完全解耦的一移动两转动三自由度并联机构:中国,CN201310277911. 4[P]. 2015-05-27.
[13] Fan C X,Liu H Z,Zhang Y B. Type synthesis of 2T2R,1T2R and 2R parallel mechanisms[J]. Mechanism and Machine Theory,2013,61:184-190.
[14] Jin Q,Yang T L. Synthesis and analysis of a group of 3-Degree-of-Freedom partially decoupled parallel manipulators[J]. Journal of Mechanical Design,2004:126(2):301-306.
[15] Fan Caixia, Liu Hongzhao,Zhang Yanbin. Kinematics and singularity analysis of a novel 1T2R fully-decoupled parallel mechanism[C]//IEEE International Conference on Intelligent Computing and Intelligent Systems,Shanghai,IEEE,312-316.
[16] Gogu G. Fully-isotropic parallel RobotswiththreedegreesoffreedomT1R2-type[C]//ASME International Design Engi neering Technical Conferences&Computers and Information in Engineering Conference,Long Beach,California,2005:757-764.
[17]窦玉超,曾达幸,李明洋,等.一种两转一移完全解耦并联机器人机构及其特性分析[J].中国机械工程,2014,25(2):241-245.
[18]沈惠平,马履中,朱小蓉,等.全解耦并联机构的运动学与工作空间分析[J].农业机械学报, 2005, 36(11):124-127.
[19] Kong X W, Gosselin C M,Type synthesis of 4-DOF SP-equivalent parallel manipulators:a virtual chain approach[J].Mechanism&Machine Theory,2006,41(11):1306-1319.
[20] Huang Zhen,Li Qinchuan. Type synthesis of symmetrical lower-mobility parallel mechanisms using the constraintsynthesis method[J]. International Journal of Robotics Research. 2003,22(1):59-79.
[21] Xu Y D, Zhang D S, Yao J T, et al. Type synthesis of the2R1T parallel mechanism with two continuous rotational axes and study on the principle of its motion decoupling[J].Mechanism and Machine Theory, 2017, 108:27-40.
[22] Xu Y D, Zhang D S, Wang M,et al. Type synthesis of twodegrees-of-freedom rotational parallel mechanism with two continuous rotational axes[J]. Chinese Journal of Mechanical Engineering, 2016, 29(4):694–702.