新型三自由度混合冗余驱动机构运动学研究
|
摘要
在混合驱动理论和冗余驱动理论的基础上,提出新型的3-PSS-6R3自由度混合冗余驱动机器人机构.该机构能够实现二维平移和一维转动,由4条支链构成,其中3条为PSS(移动副-球面副-球面副)结构,对称分布于定、动平台中心,对机构的运动不产生约束;1条支链由平面混合驱动的五杆机构串联一个空间连杆组成,此支链同时对整个机构的运动产生约束.建立了该机构的位置逆解模型,在此基础上,运用数值方法对机构的运动学进行了验证.本文的研究结论为混合驱动机构向空间发展提供理论依据.
A new 3-PSS-6 R3-DOF hybrid redundant driven was proposed based on hybrid driven mechanism and redundant driven mechanism.The mechanism could achieve two-dimensional translation and one-dimensional rotation composed of four branch chains,three of which were PSS(prismatic pairspherica pair-spherica pair)limbs distributed symmetrically at the center of the fixed and moving platform,and had no constraint on the movement of the mechanism.A middle limb was composed of a fivebar mechanism driven by constant speed motor and servo motor and a spatial link,which simultaneously constrained the movement of the whole mechanism.The inverse position solution model of the mechanism was established,and the inverse position solution of the mechanism was obtained.Then,the kinematics was verified by numerical method.The research provide theoretical basis for the development of hybrid driven mechanism to space.
A new 3-PSS-6 R3-DOF hybrid redundant driven was proposed based on hybrid driven mechanism and redundant driven mechanism.The mechanism could achieve two-dimensional translation and one-dimensional rotation composed of four branch chains,three of which were PSS(prismatic pairspherica pair-spherica pair)limbs distributed symmetrically at the center of the fixed and moving platform,and had no constraint on the movement of the mechanism.A middle limb was composed of a fivebar mechanism driven by constant speed motor and servo motor and a spatial link,which simultaneously constrained the movement of the whole mechanism.The inverse position solution model of the mechanism was established,and the inverse position solution of the mechanism was obtained.Then,the kinematics was verified by numerical method.The research provide theoretical basis for the development of hybrid driven mechanism to space.
引文
[1]Tokuz C L.Hybrid machine modelling and control[D].Liverpool:Liverpool Polytechnic,1992.
[2]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):1-9.Li 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.(in Chinese)
[3]Dülger L C,Kireci A,Topalbekiroglu M.Modeling and simulation of a hybrid actuator.Mech Mach Theory 2003;8(5):395-407.
[4]Kütük M E,Halicioglu R,Dülger L C.Kinematics and simulation of a hybrid mechanism:MATLAB/SimMechanics[J]. J Phys:Conf Ser 2015,574:012016.
[5]Kütük,M E,Dülger L C.A hybrid press system:motion design and inverse kinematics issues[J].Engineering Science and Technology an International Journal,2016,19(2):846-856.
[6]Kire?ci A,Dülger LC.A study on a hybrid actuator[J].Mech Mach Theory,2000,35(8):1141-1149.
[7]Gong J L,Wang X M,Huang F G,et al.Dynamic performance analysis of hybrid press based on dependent generalized coordinates[J].P I Mech Eng C-J Mec,2015,29(12):2187-2194.
[8]Zhang D,Gosselin C M.Kinetostatic modeling of NDOF parallel mechanisms with a passive constraining leg and prismatic actuators[J].ASME,2002,123(3):375-381.
[9]Zhang D,Gosselin G M.Kinetostatic modeling of parallel mechanisms with a passive constraining leg and revolute actuators[J].Mech.Mach.Theory,2002,37(6):599-617.
[10]Lu Y,Dai Z.Dynamics model of redundant hybrid manipulators connected in series by three or more different parallel manipulators with linear active legs[J].Mech Mach Theory,2016,103:222-235.
[11]Wu J,Zhang B B,Wang L P.Optimum design and performance comparison of a redundantly actuated solar tracker and its nonredundant counterpart[J].Sol Energy,2016,127:36-47.
[2]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):1-9.Li 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.(in Chinese)
[3]Dülger L C,Kireci A,Topalbekiroglu M.Modeling and simulation of a hybrid actuator.Mech Mach Theory 2003;8(5):395-407.
[4]Kütük M E,Halicioglu R,Dülger L C.Kinematics and simulation of a hybrid mechanism:MATLAB/SimMechanics[J]. J Phys:Conf Ser 2015,574:012016.
[5]Kütük,M E,Dülger L C.A hybrid press system:motion design and inverse kinematics issues[J].Engineering Science and Technology an International Journal,2016,19(2):846-856.
[6]Kire?ci A,Dülger LC.A study on a hybrid actuator[J].Mech Mach Theory,2000,35(8):1141-1149.
[7]Gong J L,Wang X M,Huang F G,et al.Dynamic performance analysis of hybrid press based on dependent generalized coordinates[J].P I Mech Eng C-J Mec,2015,29(12):2187-2194.
[8]Zhang D,Gosselin C M.Kinetostatic modeling of NDOF parallel mechanisms with a passive constraining leg and prismatic actuators[J].ASME,2002,123(3):375-381.
[9]Zhang D,Gosselin G M.Kinetostatic modeling of parallel mechanisms with a passive constraining leg and revolute actuators[J].Mech.Mach.Theory,2002,37(6):599-617.
[10]Lu Y,Dai Z.Dynamics model of redundant hybrid manipulators connected in series by three or more different parallel manipulators with linear active legs[J].Mech Mach Theory,2016,103:222-235.
[11]Wu J,Zhang B B,Wang L P.Optimum design and performance comparison of a redundantly actuated solar tracker and its nonredundant counterpart[J].Sol Energy,2016,127:36-47.