完全各向同性五自由度混联机构型综合
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摘要
针对混联机构内部耦合性带来运动学分析困难的问题,基于G_F集理论提出了一种简单而有效的三移动两转动(3T2R)完全各向同性构型综合方法。介绍了G_F集的基本概念和运算法则。通过分析混联机构组成特点,提出了将并联、串联模块按照G_F集求和运算以及G_F集元素组合原则构造完全各向同性混联机构的方法,建立了混联机构数综合方程。同时给出了机构输入运动副选择原则和支链设计准则,确保了混联机构中各模块运动的解耦性。按照完全各向同性混联机构设计步骤,得到了构成完全各向同性3T2R混联机构各模块单元的组合形式。以其中一种组合形式为例,综合出了完全各向同性3T2R五自由度混联机构。基于约束螺旋理论,分析了所综合出的一种混联机构的自由度,通过ADAMS建模得以验证,通过对模型运动仿真,绘制出机构末端输出速度曲线,验证了完全各向同性构型综合方法的正确性。
To avoid the difficulties caused by the existence of coupling feature of hybrid kinematic mechanisms(HKMs) in the kinematics analysis, a very simple but effective structural design principle for synthesis of fully-isotropic HKMs is proposed based on G_F set. The basic concept and mathematical operations of G_F set are introduced. A structural synthesis method for synthesis of fully-isotropic HKMs is firstly proposed by analyzing characteristics of structure composition of HKMs. It is shown that structural synthesis of fully-isotropic HKMs can be accomplished by the combination of elements of G_F set. Then, number synthesis formulas are set up and a detailed algorithm of structural synthesis for fully-isotropic HKMs is proposed. The selection criterion of the input pair and the type synthesis principle of decoupled branches are given, hence, fully-isotropic feature of various branches' input is ensured. Furthermore, according to the structural synthesis method for fully-isotropic HKMs, specific process for structural synthesis of three-translational and two-rotational(3T2R) five degrees-of-freedom(DOF) fully-isotropic HKMs is illustrated. Finally, constrained screw theory is exploited to calculate the Do F of a HKM, simulation model is built with ADAMS software, and the generalized velocity curves of the end-effector of the HKM are drawn to prove correctness of the structural synthesis method for fully-isotropic HKMs.
To avoid the difficulties caused by the existence of coupling feature of hybrid kinematic mechanisms(HKMs) in the kinematics analysis, a very simple but effective structural design principle for synthesis of fully-isotropic HKMs is proposed based on G_F set. The basic concept and mathematical operations of G_F set are introduced. A structural synthesis method for synthesis of fully-isotropic HKMs is firstly proposed by analyzing characteristics of structure composition of HKMs. It is shown that structural synthesis of fully-isotropic HKMs can be accomplished by the combination of elements of G_F set. Then, number synthesis formulas are set up and a detailed algorithm of structural synthesis for fully-isotropic HKMs is proposed. The selection criterion of the input pair and the type synthesis principle of decoupled branches are given, hence, fully-isotropic feature of various branches' input is ensured. Furthermore, according to the structural synthesis method for fully-isotropic HKMs, specific process for structural synthesis of three-translational and two-rotational(3T2R) five degrees-of-freedom(DOF) fully-isotropic HKMs is illustrated. Finally, constrained screw theory is exploited to calculate the Do F of a HKM, simulation model is built with ADAMS software, and the generalized velocity curves of the end-effector of the HKM are drawn to prove correctness of the structural synthesis method for fully-isotropic HKMs.
引文
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[23]ZHOU Hui,QIN Youlei,CAO Yi,et al.Structural synthesis of five-degree-of-freedom hybrid kinematics mechanism[J].Journal of Engineering Design,2016,27(4-6):390-4121.
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[25]GAO Feng,LI Weiming,ZHAO Xianchao,et al.New kinematic structures for 2-,3-,4-,and 5-Do F parallel manipulator designs[J].Mechanism and Machine Theory,2002,37(12):1395-1411
[26]HUANG Zhen,LIU Jingfang,ZENG Daxing.A general methodology for mobility analysis of mechanisms based on constraint screw theory[J].Science in China,2009,52(5):1337-1347.
[2]吴振勇,王玉茹,黄田.Tricept机器人的尺度综合方法研究[J].机械工程学报,2003,6(6):22-25.WU Zhenyong,WANG Yuru,HUANG Tian.Optimal dimensional synthesis of tricept robot[J].Chinese Journal of Mechanical Engineering,2003,6(6):22-25.
[3]LIU Haitao,HUANG Tian,MEI Jianping,et al.Kinematic design of a 5-Do F hybrid robot with large workspace/limb-stroke ratio[J].Journal of Mechanical Design,2007,129(5):530-537.
[4]张勇,高峰,吴生富,等.混联式锻造操作机:中国,201210517064.X[P].2013-11-27.ZHANG Yong,GAO Feng,WU Shengfu,et al.Hybrid forging manipulator:China,201210517064.X[P].2013-11-27.
[5]LI Qinchuan,WU Weifeng,XIANG Jinan,et al.A hybrid robot for friction stir welding[J].Journal of Mechanical Engineering Science,2015,229(14):2639-2650.
[6]曾达幸,苏永林,卢文娟,等.一种新型五自由度完全解耦串并联中医推拿机器人机构[J].机械设计与研究,2014,30(2):30-34.ZENG Daxing,SU Yonglin,LU Wenjuan,et al.A novel5-Do F fully-decoupled series-parallel chinese massage robot mechanism[J].Machine Design and Research,2014,30(2):30-34.
[7]余顺年,马履中,陈扼西,等.新型串并联中医推拿机器人研究[J].中国机械工程,2005,16(19):1773-1778.YU shunnian,MA lüzhong,CHEN Exi,et al.Study on a novel series-parallel chinese massage manipulator[J].China Mechanical Engineering,2005,16(19):1773-1778.
[8]刘辛军,谢福贵,汪劲松.当前中国机构学面临的机遇[J].机械工程学报,2015,51(13):2-12.LIU Xinjun,XIE Fugui,WANG Jinsong.Current opportunities in the field of mechanisms in China[J].Journal of Mechanical Engineering,2015,51(13):2-12.
[9]PETKO M,GAC K,GóRA G,et al.CNC system of the5-axis hybrid robot for milling[J].Mechatronics,2016,37(1):89-99.
[10]王书森,梅瑛,李瑞琴.新型3T2R龙门式混联机床动力学模型[J].机械工程学报,2016,52(15):81-90.WANG Shusen,MEI Ying,LI Ruiqin.Solving dynamics for a novel 3T2R gantry hybrid machine tool[J].Journal of Mechanical Engineering,2016,52(15):81-90.
[11]ZENG Qiang,FANG Yuefa.Structural synthesis of serial-parallel hybrid mechanisms based on representation and operation of logical matrix[J].Journal of Mechanisms&Robotics,2009,1(4):469-484.
[12]ALIZADE R,CAN F C,GEZGIN E.Structural synthesis of Euclidean platform robot manipulators with variable general constraints[J].Mechanism and Machine Theory,2008,43(11):143l-1449.
[13]CAMPOS A,BUDDE C,HESSELBACH J.A type synthesis method for hybrid robot structures[J].Mechanism and Machine Theory,2008,43(8):984-995.
[14]KONG X W,GOSSELIN C M.Type synthesis of inputoutput decoupled parallel manipulators[J].Transactions of the Canadian Society for Mechanical Engineering,2004,28(2A):185-196.
[15]GOGU G.Structural synthesis of fully-isotropic translational parallel robots via theory of linear transformations[J].European Journal of Mechanics-A/Solids,2004,23(6):1021-1039.
[16]GOGU G.Structural synthesis of fully-isotropic parallel robots with Sch?nflies motions via theory of linear transformations and evolutionary morphology[J].European Journal of Mechanics-A/Solids,2007,26(2):242-269.
[17]ZENG Daxing,HUANG Zhen.Type synthesis of the rotational decoupled parallel mechanism based on screw theory[J].Science China technological Sciences,2011,54(4):998-1004.
[18]ZHANG Yanbin,LIU Hongzhao,WU Xin.Kinematics analysis of a novel parallel manipulator[J].Mechanism and Machine Theory,2009,44(9):1648-1657.
[19]GALLARDO A J,RODRIGUEZ C R,SANCHEZ R A.Kinematics of a decoupled series-parallel manipulator by means of screw theory[J].Advances in Robotics Research,2014,3(1):185-198.
[20]沈惠平,邓嘉鸣,李云峰,等.一种四自由度解耦混联机器人:中国,102172913A[P].2011-09-07.SHEN Huiping,DENG Jiaming,LI Yunfeng,et al.A kind of four degrees of freedom hybrid robot:China,102172913A[P].2011-09-07.
[21]YANG Jialun,GAO Feng,GE Jeffrey,et al.Type synthesis of parallel mechanisms having the first class GF sets and one-dimensional rotation[J].Robotica,2011,29(6):895-902.
[22]秦友蕾,曹毅,陈海,等.两移动三转动完全解耦混联机器人机构型综合[J].西安交通大学学报,2016,50(1):92-99.QIN Youlei,CAO Yi,CHEN Hai,et al.Structural synthesis of fully-decoupled two-translational and threerotational hybrid robotic manipulators[J].Journal of Xi’an Jiaotong University,2016,50(1):92-99.
[23]ZHOU Hui,QIN Youlei,CAO Yi,et al.Structural synthesis of five-degree-of-freedom hybrid kinematics mechanism[J].Journal of Engineering Design,2016,27(4-6):390-4121.
[24]赵铁石,黄真.欠秩空间并联机器人输入选取的理论与应用[J].机械工程学报,2000,36(10):81-85.ZHAO Tieshi,HUANG Zhen.Theory and application of selecting actuating components of spatial parallel mechanisms[J].Chinese Journal of Mechanical Engineering,2000,36(10):81-85.
[25]GAO Feng,LI Weiming,ZHAO Xianchao,et al.New kinematic structures for 2-,3-,4-,and 5-Do F parallel manipulator designs[J].Mechanism and Machine Theory,2002,37(12):1395-1411
[26]HUANG Zhen,LIU Jingfang,ZENG Daxing.A general methodology for mobility analysis of mechanisms based on constraint screw theory[J].Science in China,2009,52(5):1337-1347.