一种空间非对称2自由度并联机构设计与应用研究
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摘要
以一种空间非对称2自由度并联机构为研究对象,通过机构方位特征集理论进行了自由度计算,运用矢量代数法进行正向运动学分析,由雅克比矩阵得到了机构全部奇异位置。基于空间模型理论,综合考虑机构几何尺寸及不同类型输入量取值范围等参数,将上述参数无量纲化处理后作为坐标系,建立了此机构的空间模型。在模型中绘制了此机构奇异曲面,直观分析机构参数与机构奇异性之间的关系,并依据奇异曲面在空间模型中的分布状况,进行机构参数优化,实现减少机构奇异的目的,最后进行了机构工程应用举例。
A Spatial Asymmetric 2-DOF parallel mechanism is studied,and the degree of freedom is studied by theory of position and orientation characteristics(POC). The vector kinematics method is used to analyze the forward kinematics,and all the singular positions are obtained from the Jacobi matrix. Based on the theory of space model,considering the geometrical dimensions of the mechanism and the range of different types of input values,the above parameters are dimensionless as the coordinate system,the spatial model of the mechanism is established. The singularity surface is acquired in the model,and the relationship between the parameters of the mechanism and the singularity of the mechanism is analyzed intuitively. According to the distribution of singular surface in the spatial model,the mechanism parameters are optimized and the purpose of reducing the singularity of the mechanism is achieved. At last,the engineering application of the mechanism is provided.
A Spatial Asymmetric 2-DOF parallel mechanism is studied,and the degree of freedom is studied by theory of position and orientation characteristics(POC). The vector kinematics method is used to analyze the forward kinematics,and all the singular positions are obtained from the Jacobi matrix. Based on the theory of space model,considering the geometrical dimensions of the mechanism and the range of different types of input values,the above parameters are dimensionless as the coordinate system,the spatial model of the mechanism is established. The singularity surface is acquired in the model,and the relationship between the parameters of the mechanism and the singularity of the mechanism is analyzed intuitively. According to the distribution of singular surface in the spatial model,the mechanism parameters are optimized and the purpose of reducing the singularity of the mechanism is achieved. At last,the engineering application of the mechanism is provided.
引文
[1]路懿,胡波.少自由度并联机构研究进展[J].燕山大学学报,2011,35(5):377-384.
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[8]Chablat D,Wenger P.Architecture optimization of a 3-DOF translational parallel mechanism for machining applications,the orthoglide[J].IEEE Transactions on Robotics&Automation,2007,19(3):403-410.
[9]赵云峰,程丽,赵永生.3-UPS/S并联机构运动学分析及机构优化设计[J].机械设计,2009,26(1):46-49.
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[11]高峰,刘辛军.机器人机构CAD的研究[J].机械工程学报,2000,36(4):9-13.
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[13]Gao F,Zhao Y S,Zhang Z H.Physical model of the solution space of 3-DOF parallel planar manipulators[J].Mechanism&Machine Theory,1996,31(2):161-171.
[14]张立杰.两自由度并联机器人的性能分析及尺寸优化[D].秦皇岛:燕山大学,2006.
[15]刘辛军,王立平,吴泽启,等.基于力传递性能的平面并联机器人的优化设计[J].清华大学学报:自然科学版,2008,48(11):1927-1930.
[16]杨廷力.机器人机构拓扑结构学[M].北京:机械工业出版社,2012.
[17]Gosselin C,Angeles J.Singularity analysis of closed-loop kinematic chains[J].IEEE Transactions on Robotics&Automation,1990,6(3):281-290.
[18]王汝贵,袁吉伟.一种步进式变胞爬树机器人机构:中国,ZL 201710182467.6[P].2017-08-04.
[2]Stewart D.A Platform with six degrees of freedom[J].ARCHIVE Proceedings of the Institution of Mechanical Engineers,1965,180:371-386.
[3]Clavel R.A fast robot with parallel geometry[C]//Proc Int Symposium on Industrial Robots,1988:91-100.
[4]Gupta K C,Roth B.Design considerations for manipulator workspace[J].Journal of Mechanical Design,1982,104(4):704-711.
[5]Klein C A.Dexterity measures for the design and control of kinematic redundant manipulators[J].International Journal of Robotics Research,1987,6(2):72-83.
[6]Yoshikawa T.Analysis and control of robot manipulators with redundancy[J].Robotics Research the First International Symposium,1984.
[7]Gosselin C M,Lavoie E.On the kinematic design of spherical three-degree-of-freedom parallel manipulators[J].International Journal of Robotics Research,1993,12:394-402.
[8]Chablat D,Wenger P.Architecture optimization of a 3-DOF translational parallel mechanism for machining applications,the orthoglide[J].IEEE Transactions on Robotics&Automation,2007,19(3):403-410.
[9]赵云峰,程丽,赵永生.3-UPS/S并联机构运动学分析及机构优化设计[J].机械设计,2009,26(1):46-49.
[10]陈静,刘强.基于遗传算法的新型2-DOF并联机构优化设计[J].机械设计,2008,25(2):21-24.
[11]高峰,刘辛军.机器人机构CAD的研究[J].机械工程学报,2000,36(4):9-13.
[12]刘辛军.并联机器人机构尺寸与性能关系分析及其设计理论研究[D].泰皇岛:燕山大学,1999.
[13]Gao F,Zhao Y S,Zhang Z H.Physical model of the solution space of 3-DOF parallel planar manipulators[J].Mechanism&Machine Theory,1996,31(2):161-171.
[14]张立杰.两自由度并联机器人的性能分析及尺寸优化[D].秦皇岛:燕山大学,2006.
[15]刘辛军,王立平,吴泽启,等.基于力传递性能的平面并联机器人的优化设计[J].清华大学学报:自然科学版,2008,48(11):1927-1930.
[16]杨廷力.机器人机构拓扑结构学[M].北京:机械工业出版社,2012.
[17]Gosselin C,Angeles J.Singularity analysis of closed-loop kinematic chains[J].IEEE Transactions on Robotics&Automation,1990,6(3):281-290.
[18]王汝贵,袁吉伟.一种步进式变胞爬树机器人机构:中国,ZL 201710182467.6[P].2017-08-04.