一种新型冗余驱动并联二维指向机构的研究
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摘要
以球面5R机构为原型,通过添加冗余驱动支链的方法,得到了一种新型高精度、高承载和大工作空间的冗余驱动并联二维指向机构。以消除机构内部奇异、增大机构工作空间为目标,针对具有特定驱动螺旋的冗余驱动支链进行综合;通过对比各分支,筛选出了一种结构简单、精度高、承载能力强的分支,构成了新型冗余驱动并联二维指向机构,并对该机构的位置反解、雅可比矩阵及其奇异性进行了分析;针对机构工作空间、灵巧性和承载力等性能,绘制了机构的性能图谱;基于机构性能的均值指标和方差指标对机构进行了尺寸参数的优化设计,得到了一种性能优异的冗余驱动并联二维指向机构并制作了样机,为跟踪指向领域提供了一种高品质的机构。
Based on spherical 5 R mechanism,a new redundant-drive parallel two-dimensional pointing mechanism featuring high precision,high load,and large workspace is developed by adding redundant-drive chains. In order to eliminate the singularity inside the mechanism and enlarge the workspace,the redundant-drive chains with specific driving screws are synthesized.Based on comparison among different chains,a chain characterized with simple structure,high precision,and strong bearing capacity is selected. Then,a new redundant-drive parallel two-dimensional pointing mechanism is developed,and analysis is conducted on its inverse solution,Jacobi matrix and singularity. The performance atlas is formulated,with the emphasis on the workspace,flexibility,and bearing capacity. Based on performance-oriented mean index and variance index,the size parameters are optimized. Thus,a sample of redundant-drive parallel two-dimensional pointing mechanism with excellent performance is provided,which serves as a quality mechanism adopted in the tracking and pointing field.
Based on spherical 5 R mechanism,a new redundant-drive parallel two-dimensional pointing mechanism featuring high precision,high load,and large workspace is developed by adding redundant-drive chains. In order to eliminate the singularity inside the mechanism and enlarge the workspace,the redundant-drive chains with specific driving screws are synthesized.Based on comparison among different chains,a chain characterized with simple structure,high precision,and strong bearing capacity is selected. Then,a new redundant-drive parallel two-dimensional pointing mechanism is developed,and analysis is conducted on its inverse solution,Jacobi matrix and singularity. The performance atlas is formulated,with the emphasis on the workspace,flexibility,and bearing capacity. Based on performance-oriented mean index and variance index,the size parameters are optimized. Thus,a sample of redundant-drive parallel two-dimensional pointing mechanism with excellent performance is provided,which serves as a quality mechanism adopted in the tracking and pointing field.
引文
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[7]陈斌,于靖军,宗光华,等.一类2自由度n-4R并联指向机构的运动学分析[J].机械工程学报,2014,50(15):19-27.
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[10]Li X,Ding X,Chirikjian G S.Analysis of a mechanism with redundant drive for antenna pointing[J].Proceedings of the Institution of Mechanical Engineers Part G Journal of Aerospace Engineering,2017,231(2):229-239.
[11]Fang Y F,Tsai L W.Structure synthesis of a class of 4-DoFand 5-DoF parallel manipulators with identical limb structures[J].The International Journal of Robotics Research,2002,21(9):799-810.
[12]黄真,赵永生,赵铁石.高等空间机构学[M].2版.北京:高等教育出版社,2014:339-343.
[13]郝齐.一种两自由度并联机构优化设计及动力学控制研究[D].北京:清华大学,2011:27-29.