线性驱动并联机构基于有效工作空间比的尺度优化
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摘要
提出了1种并联机构工作空间的几何求解及尺度优化方法。首先,借助闭环矢量法构造了线性驱动6自由度并联机构的位置逆解模型;推导得出并联机构定姿态可达工作空间的边界曲面方程,获得精确的3维可达空间;提出"有效工作空间比"概念,以刻画可达工作空间的有效尺度域;最后,在考察归纳机构关键尺度参数对有效工作空间比的影响规律的基础上,以包络已知任务空间的可达空间体积最小作为目标函数,结合有效工作空间比取值范围、驱动关节位移范围、构件干涉及尺度约束等约束条件,联合应用模拟退火+模式搜索算法进行了机构关键尺度参数的优化设计。研究成果可为并联机构的结构设计奠定必要理论基础。
This paper proposes geometry solution and scale optimization methods for parallel mechanism workspace. Firstly,a position-inverse solution model for a linearly driven 6-DOF parallel mechanism is constructed by closed-loop vector method. The parallel mechanism in fixed posture's workspace boundary surface equations are deduced to obtain accurate three-dimensional reachable space. This paper proposes the concept of "effective workspace ratio" to describe the effective scale domain of the available workspace. Finally,On the basis of discoverable rules of the key structure parameters effected on the effective working space ratio,the minimum volume of reachable space circumscribed with the known task space is used as the objective function. It also combined with the constraints of the effective working space ratio range,driving joint displacement range,and component interference. This optimization uses simulated annealing algorithm and pattern search method to optimized design the key mechanism scale parameters.The research results of this paper can lay the necessary theoretical foundation for the structural design of this kind of parallel mechanism.
This paper proposes geometry solution and scale optimization methods for parallel mechanism workspace. Firstly,a position-inverse solution model for a linearly driven 6-DOF parallel mechanism is constructed by closed-loop vector method. The parallel mechanism in fixed posture's workspace boundary surface equations are deduced to obtain accurate three-dimensional reachable space. This paper proposes the concept of "effective workspace ratio" to describe the effective scale domain of the available workspace. Finally,On the basis of discoverable rules of the key structure parameters effected on the effective working space ratio,the minimum volume of reachable space circumscribed with the known task space is used as the objective function. It also combined with the constraints of the effective working space ratio range,driving joint displacement range,and component interference. This optimization uses simulated annealing algorithm and pattern search method to optimized design the key mechanism scale parameters.The research results of this paper can lay the necessary theoretical foundation for the structural design of this kind of parallel mechanism.
引文
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[15]MERLET J P.Determination of the orientation workspace of parallel manipulators[J].Journal of Intelligent and Robotic Systems,2005,13:143-160.
[16]MERLET J P.Legs interference checking of parallel robots over a given workspace or trajectory[C]//Proceedings of the 2006 IEEEInternational Conference on Robotics and Automation,Orlando,2006:757-762.
[17]黄田,汪劲松.Stewart并联机器人位置空间解析[J].中国科学(E辑),1998,28(2):136-145.
[18]刘辛军.基于AutoCAD平台的6自由度机器人位置工作空间的解析求解方法[J].机器人,2000,22(6):457-464.
[19]袁立鹏.Stewart平台铰点工作空间的研究[J].航空学报,2006,27(5):979-984.
[20]张立杰,刘辛军.一种并联机构最大内切工作空间的几何求解[J].机械设计与研究,2002,18(1):20-22.
[21]刘辛军,汪劲松.一种空间3自由度并联机器人的工作空间和转动能力分析[J].自然科学进展,2005,15(2):212-220.
[22]刘文彩,许勇,陈佳丽.阀体密封面自动焊接系统方案设计[J].机械设计与研究,2018,34(2):76-80.
[2]田小静.新型五自由度并联机床的运动学设计及工作空间分析[D].河北秦皇岛:燕山大学,2003.
[3]杨龙,褚宏鹏.3-RRR+(S-P)人形机器人仿生肩关节主参数设计及其工作空间分析[J].中国机械工程,2017,28(2):199-204.
[4]陈修龙,陈林林.4自由度冗余驱动并联机构运动学和工作空间分析[J].农业机械学报,2014,45(8)307-313.
[5]高洪.6-3-3并联机构工作空间分析与仿真[J].系统仿真学报,2007,19(24):5806-5808.
[6]HUANG C K,TSAI K Y.A general method to determine compatible orientation workspaces for different types of 6-DOFparallel manipulators[J].Mechanism and Machine Theory,2015,85:129-146.
[7]RUI C,FENG G.A key point dimensional design method of a 6-DOF parallel manipulator for a given workspace[J].Mechanism and Machine Theory,2015,85:1-13.
[8]TSAI K Y,LO I-TING.Compatible reachable workspaces of symmetrical Stewart-Gough parallel manipulators[J].Mechanism and Machine Theory,2014,77:111-121.
[9]Mohammad H.Determination of the maximal singularity-free workspace of 3-DOF parallel mechanisms with a constructive geometric approach[J].Mechanism and Machine Theory,2015,84:25-36.
[10]FU J X,GAO F.Optimal design of a 3-Leg 6-DOF parallel manipulator for a specific workspace[J].Chinese Journal of Mechanical Engineering,2016,29(3):1-10.
[11]KARIMI A.Singularity-free workspace analysis of general 6-UPSparallel mechanisms via convex optimization[J].Mechanism and Machine Theory,2014,80:17-34.
[12]胡国胜.6-SPS型并联机器人的工作空间分析及奇异性研究[D].上海:东华大学,2005.
[13]HRISHI SHAH.CAD-enhanced workspace optimization for parallel manipulators[C]//6th annual IEEE Conference on Automation Science and Engineering,Toronto,2010:816-821.
[14]金京哲.并联机器人工作空间的分析与模拟[D].河北秦皇岛:燕山大学,2009.
[15]MERLET J P.Determination of the orientation workspace of parallel manipulators[J].Journal of Intelligent and Robotic Systems,2005,13:143-160.
[16]MERLET J P.Legs interference checking of parallel robots over a given workspace or trajectory[C]//Proceedings of the 2006 IEEEInternational Conference on Robotics and Automation,Orlando,2006:757-762.
[17]黄田,汪劲松.Stewart并联机器人位置空间解析[J].中国科学(E辑),1998,28(2):136-145.
[18]刘辛军.基于AutoCAD平台的6自由度机器人位置工作空间的解析求解方法[J].机器人,2000,22(6):457-464.
[19]袁立鹏.Stewart平台铰点工作空间的研究[J].航空学报,2006,27(5):979-984.
[20]张立杰,刘辛军.一种并联机构最大内切工作空间的几何求解[J].机械设计与研究,2002,18(1):20-22.
[21]刘辛军,汪劲松.一种空间3自由度并联机器人的工作空间和转动能力分析[J].自然科学进展,2005,15(2):212-220.
[22]刘文彩,许勇,陈佳丽.阀体密封面自动焊接系统方案设计[J].机械设计与研究,2018,34(2):76-80.