三自由度冗余驱动混联机器人的理论工作空间与机构尺寸关系研究
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摘要
以一种三自由度混联机器人机构为研究对象,运用空间模型理论,对其各部分尺寸参数进行量纲归一化处理,得到使机器人能够正常运动所满足的机构尺寸参数,并求得其封闭的运动学反解。在此基础上,利用运动学反解存在的条件和设计空间的变化规律,分析计算并运用MATLAB得该混联机器人的理论工作空间形状和性能图谱,直观的反映出了机器人理论工作空间与机构尺寸参数之间的关系。最后总结出了该混联机器人理论工作空间性能指标在设计空间中的分布规律,并给出了较大理论工作空间所对应的尺寸范围,为机器人结构参数的优化设计提供了重要参考依据。
引文
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[9] Li Y. Dynamic Dimensional Synthesis of a 4-DOF Highspeed Parallel Manipulator[J]. Journal of Mechanical Engineering, 2014, 50(19):32.
[10] Li Tiejun, Wang Hailing, et al.Design and Realize the Structure of Strand and Parallel Plate Mount Robot[J].Robot, 2011, 33(1):107-112.
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[13] Li Yan.Study on Dynamic Modeling and Control of TwoDegree-of-Freedom Redundant DrivingParallel Robot[D].Technology of Shandong University, 2010:45-47.
[14] HUI Ji-zhuang, WEI Fang-sheng, GAO Kai, DING Xiang.Study on Dynamics Simulation of Redundantly Actuated Parallel Robot Based on ADAMS[J]. Chinese Journal of Engineering Design, 2012, 19(5):362-365.
[15] Zhang Yanfei, Gong Jinliang, Li Weimin. Kinematics Analysis and Simulation of a 6-DOF Redundant Driven Parallel Manipulator. Journal of Mechanical Engineering.
[2] X J Liu, F. Gao, Optimum Design of 3-Dof Spherical Parallel Manipulators with Respect to the Conditioning and Stiffness Indices[J]. Mechanism and Machine Theory,2000, 35:1257-1267.
[3] Wang Bing Analysis of Relationship between Size and Performance of Parallel Robot Mechanism and Its Design Theory. Yanshan University, 1999.
[4] ZhANG Li-jie, LI Yong-quan. Workspace and Singularity of a Kind of Parallel Manipulator with Actuation Redundancy[J].Chinese Journal of Mechanical Engineering, 2009(23):2788-2789.
[5] GOSSELIN C M, ANGELES J. The optimum kinematic design of a spherical three-degree-of-freedom parallel manipulator[J].J.Mech. Transm Autom. Des,1989,111(2):202-207.
[6] ZHANG Chun-feng, ZHAO Hui.Optimum Design of a3RRR Parallel Manipulator[J]. Mechanical Engineering and Automation, 2006,(4):92-96.
[7] ZHANG Li-jie, LIU Feng, HUANG Zhen. Analysis of Performances of Planar 2-DOF Parallel Manipulator With Actuation Redundancy[J]. Chinese Journal of Mechanical Engineering, 2006(07):183-184.
[8] HUI Ji-zhuang, WEI Fang-sheng, GAO Kai, DING Xiang.Study on Dynamics Simulation of Redundantly Actuated Parallel Robot Based on ADAMS[J]. Chinese Journal of Engineering Design, 2012, 19(5):362-365.
[9] Li Y. Dynamic Dimensional Synthesis of a 4-DOF Highspeed Parallel Manipulator[J]. Journal of Mechanical Engineering, 2014, 50(19):32.
[10] Li Tiejun, Wang Hailing, et al.Design and Realize the Structure of Strand and Parallel Plate Mount Robot[J].Robot, 2011, 33(1):107-112.
[11] Hunt K.H. Structural kinematics of in parallel actuated robot arms. J. of Mechanisms, Transmissions and Automation in Design, 105:705-712, Mars 1983.
[12] X J Liu, Z. L. Jin, F. Gao, Optimum Design of 3-Dof Spherical Parallel Manipulators with Respect to the Conditioning and Stiffness Indices[J]. Mechanism and Machine Theory, 2000, 35:1257-1267.
[13] Li Yan.Study on Dynamic Modeling and Control of TwoDegree-of-Freedom Redundant DrivingParallel Robot[D].Technology of Shandong University, 2010:45-47.
[14] HUI Ji-zhuang, WEI Fang-sheng, GAO Kai, DING Xiang.Study on Dynamics Simulation of Redundantly Actuated Parallel Robot Based on ADAMS[J]. Chinese Journal of Engineering Design, 2012, 19(5):362-365.
[15] Zhang Yanfei, Gong Jinliang, Li Weimin. Kinematics Analysis and Simulation of a 6-DOF Redundant Driven Parallel Manipulator. Journal of Mechanical Engineering.