一种可重构、部分运动解耦的空间n维平移1维转动并联机构的拓扑及其运动学设计
|
摘要
根据基于方位特征(POC)方程的并联机构拓扑设计理论与方法,提出了一种动平台可重构的三自由度并联机构RPa3R-R+RSS。对该机构的运动输出特性进行分析,表明该机构动平台能产生空间n维平移1维转动(nT1R,n=2,3)的输出运动且具有部分运动解耦性,通过动平台的重构可赋予动平台的转动绕3个特定转动轴x、y、z输出;计算了机构的自由度和耦合度;基于序单开链的运动学建模原理,建立了该机构动平台绕任意转动轴输出构型下的通用运动学模型;对动平台绕z轴转动输出构型下的运动学进行了分析,包括位置正反解、工作空间形状与大小、动平台转动能力、机构的奇异位形条件,以及机构的速度和加速度计算与仿真分析。
According to the design theory for parallel mechanism based on positions and orientation characteristics(POC),a new 3-DOF PM with reconfigurable moving platform RPa3 R-R+RSS,was proposed.Firstly,the output characteristics of the PM were analyzed,which show that the moving platform may produce n-translation and 1-rotation(nT1 R,n =2,3)and has partial motion decoupling.The PM may produce a specific rotational output motion around one of three specific axes x,y,z by reconfigurable architecture of the moving platform.The degree of freedom and the coupling degree of the PM were calculated.Secondly,ageneral kinematics model of the PM for a configuration of arbitrary rotational shaft of the moving platform was established according to the kinematic molding principles based on the ordered single-open-chain(SOC)units.Lastly,the kinematics of the output configuration of moving platform with rotating around the z axis were analyzed,including the positive and inverse position solutions,workspace,rotation capability,singularity conditions,and the calculation and simulation of velocity and acceleration.
According to the design theory for parallel mechanism based on positions and orientation characteristics(POC),a new 3-DOF PM with reconfigurable moving platform RPa3 R-R+RSS,was proposed.Firstly,the output characteristics of the PM were analyzed,which show that the moving platform may produce n-translation and 1-rotation(nT1 R,n =2,3)and has partial motion decoupling.The PM may produce a specific rotational output motion around one of three specific axes x,y,z by reconfigurable architecture of the moving platform.The degree of freedom and the coupling degree of the PM were calculated.Secondly,ageneral kinematics model of the PM for a configuration of arbitrary rotational shaft of the moving platform was established according to the kinematic molding principles based on the ordered single-open-chain(SOC)units.Lastly,the kinematics of the output configuration of moving platform with rotating around the z axis were analyzed,including the positive and inverse position solutions,workspace,rotation capability,singularity conditions,and the calculation and simulation of velocity and acceleration.
引文
[1] CALVEL R,DELTA.A Fast Robot with Parallel Geometry[C]//Proceedings of International Symposium on Industrial Robots.Sydney,1988:91-100.
[2]黄真,孔令富,方跃法.并联机器人机构学理论及控制[M].北京:机械工业出版社,1996.HUANG Zhen,KONG Lingfu,FANG Yuefa.Theory and Control of Parallel Robot Mechanism[M].Beijing:China Machine Press,1996.
[3] HUANG Z,FANG Y F.Kinematics Characteristics Analysis of 3-DOF Parallel Actuated Pyramid Mechanisms[J].Mechanism and Machine Theory,1996,31(8):1009-1018.
[4] GROGORIO R D.Kinematics of a New Spherical Manipulator with Three Equal Legs:the 3-URC Wrist[J].Journal of Robotic Systems,2001,18(5):213-219.
[5]尹小琴,马履中,杨廷力.新型虚拟轴三维坐标测量机构3-RRC的运动分析[J].中国机械工程,2003,14(13):1147-1149.YIN Xiaoqin,MA Lyuzhong,YANG Tingli.Kinematic Analysis of a New Virtual Coordinate Measuring Machine Based on 3-RRC Parallel Mechanism[J].China Mechanical Engineering,2003,14(13):1147-1149.
[6]于海波,赵铁石,李仕华.空间3-SPS/S对顶双锥机构的运动学分析[J].机械设计,2007,24(2):11-14.YU Haibo,ZHAO Tieshi, LI Shihua. The Kinematic Analysis of Top Double Cone Mechanism of Spatial 3-SPS/S[J].Journal of Mechanism Design,2007,24(2):11-14.
[7]郭盛,梁艺瀚,王志群,等.基于虚拟仿真的并联构型手控器动力学建模与力反馈控制[J].机器人,2015(2):224-230.GUO Sheng,LIANG Yihan,WANG Zhiqun,et al.Dynamic Modeling and Force-feedback Control of Haptic Device with Parallel Structure Based on Virtual Simulation[J].Robot,2015(2):224-230.
[8] HUNT K.Structural Kinematics of In-parallel-actuated Robot-arms[J].Journal of Mechanical Design,1983,105(4):705-712.
[9] JOSHI S A,TSAI L W.Jacobian Analysis of Limited-DOF Parallel Manipulators[J].Journal of Mechanical Design,2002,124(2):254-258.
[10] HUANG T,LI M,ZHAO X M,et al.Conceptual Design and Dimensional Synthesis for a 3-DOF Module of the TriVariant:a Novel 5-DOF Reconfigurable Hybrid Robot[J].IEEE Transaction on Robotics,2005,21(3):449-456.
[11] NEUMANN K E.Parallel-kinematical Machine:Australia,WO2006/054935[P].2006-05-26.
[12] OLAZAGOITIA J L,WYATT S.New PKM Tricept T9000and Its Application to Flexible Manufacturing at Aerospace Industry[J].SAE Technical Paper,2007-01-3820.
[13] ZOPPI M,ZLATANOV D,MOLFINO R.Kinematics Analysis of the Exechon Tripod[C]//Proceedings of the ASME 2010International Design Engineering Technical Conferences&Computers and Information in Engineering Conference IDETC/CIE.Quebec,2010:1-8.
[14] LI Q,HERVE J M.1T2RParallel Mechanisms without Parasitic Motion[J].IEEE Transactions on Robotics,2010,26(3):401-410.
[15]王飞博,吴伟峰,陈祥,等.基于运动/力传递特性的1T2R并联机构构型优选[J].机械工程学报,2014,50(23):20-28.WANG Feibo,WU Weifeng,CHEN Xiang,et al.Optimal Type Selection of 1T2RParallel Mechanisms Based on Motion/Force Transmissibility[J].Journal of Mechanical Engineering,2014,50(23):20-28.
[16]王飞博,陈巧红,武传宇,等.2-UPR-SPR并联机构尺度综合[J].机械工程学报,2015,51(21):24-32.WANG Feibo,CHEN Qiaohong,WU Chuanyu,et al.Dimensional Synthesis of a 2-UPR-SPR Parallel Manipulator[J].Journal of Mechanical Engineering,2015,51(21):24-32.
[17]汪满新,黄田.1T2R3自由度并联机构拓扑结构综合[J].机械工程学报,2015,51(17):1-7.WANG Manxin,HUANG Tian.Type Synthesis of1T2R3-DOF Parallel Mechanism[J].Journal of Mechanical Engineering,2015,51(17):1-7.
[18]胡微微,梅瑛,王书森,等.新型并联机构((2-RPR&RP)+R)&UPR构型及位置逆解分析[J].机械传动,2016,40(9):13-16.HU Weiwei,MEI Ying,WANG Shusen,et al.Configuration and Inverse Position Solution Analysis of a Novel((2-RPR&RP)+R)&UPR Parallel Mechanism[J].Journal of Mechanical Transmission,2016,40(9):13-16.
[19] KONG X W,GOSSELIN C M.Type Synthesis of3-DOF PPR-equivalent Parallel Manipulators Based on Screw Theory and the Concept of Virtual Chain[J].ASME Journal of Mechanical Design,2005,127:1113-1121.
[20]杨宁,马履中,艾永强,等.两平移一转动并联机构型综合研究[J].机械设计与研究,2005,21(5):29-32.YANG Ning,MA Lüzhong,AI Yongqiang,et al.Study on Structure Synthesis of Two Translations and One Rotation Parallel Mechanism[J].Machine Design and Research,2005,21(5):29-32.
[21] REFAAT S,HERVE J M,NAHAVANDI S.A Symmetrical Three-DOFs Rotational-translational Parallel-kinematics Mechanisms Based on Lie Group Theory[J].European Journal of Mechanics A/Solids,2006,25:550-558.
[22]张彦斌,吴鑫,刘宏昭,等.无奇异完全各向同性2T1R型并联机构的结构综合[J].中国机械工程,2008,19(3):277-281.ZHANG Yanbin,WU Xin,LIU Hongzhao,et al.Structural Synthesis of Singularity-free Fully-isotropic Parallel Mechanisms with 2T1R-type[J].China Mechanical Engineering,2008,19(3):277-281.
[23]杨廷力,刘安心,罗玉峰,等.机器人机构拓扑结构设计[M].北京:科学出版社,2012.YANG Tingli,LIU Anxin,LUO Yufeng,et al.Theory and Application of Robot Mechanism Topology[M].Beijing:Science Press,2012.
[24]刘平松.I4R型并联机器人全域性能及其优化研究[D].南京:南京理工大学,2013.LIU Pingsong.Global Performance and Optimization of I4R Parallel Robot[D].Nanjing:Nanjing University of Science and Technology,2013.
[2]黄真,孔令富,方跃法.并联机器人机构学理论及控制[M].北京:机械工业出版社,1996.HUANG Zhen,KONG Lingfu,FANG Yuefa.Theory and Control of Parallel Robot Mechanism[M].Beijing:China Machine Press,1996.
[3] HUANG Z,FANG Y F.Kinematics Characteristics Analysis of 3-DOF Parallel Actuated Pyramid Mechanisms[J].Mechanism and Machine Theory,1996,31(8):1009-1018.
[4] GROGORIO R D.Kinematics of a New Spherical Manipulator with Three Equal Legs:the 3-URC Wrist[J].Journal of Robotic Systems,2001,18(5):213-219.
[5]尹小琴,马履中,杨廷力.新型虚拟轴三维坐标测量机构3-RRC的运动分析[J].中国机械工程,2003,14(13):1147-1149.YIN Xiaoqin,MA Lyuzhong,YANG Tingli.Kinematic Analysis of a New Virtual Coordinate Measuring Machine Based on 3-RRC Parallel Mechanism[J].China Mechanical Engineering,2003,14(13):1147-1149.
[6]于海波,赵铁石,李仕华.空间3-SPS/S对顶双锥机构的运动学分析[J].机械设计,2007,24(2):11-14.YU Haibo,ZHAO Tieshi, LI Shihua. The Kinematic Analysis of Top Double Cone Mechanism of Spatial 3-SPS/S[J].Journal of Mechanism Design,2007,24(2):11-14.
[7]郭盛,梁艺瀚,王志群,等.基于虚拟仿真的并联构型手控器动力学建模与力反馈控制[J].机器人,2015(2):224-230.GUO Sheng,LIANG Yihan,WANG Zhiqun,et al.Dynamic Modeling and Force-feedback Control of Haptic Device with Parallel Structure Based on Virtual Simulation[J].Robot,2015(2):224-230.
[8] HUNT K.Structural Kinematics of In-parallel-actuated Robot-arms[J].Journal of Mechanical Design,1983,105(4):705-712.
[9] JOSHI S A,TSAI L W.Jacobian Analysis of Limited-DOF Parallel Manipulators[J].Journal of Mechanical Design,2002,124(2):254-258.
[10] HUANG T,LI M,ZHAO X M,et al.Conceptual Design and Dimensional Synthesis for a 3-DOF Module of the TriVariant:a Novel 5-DOF Reconfigurable Hybrid Robot[J].IEEE Transaction on Robotics,2005,21(3):449-456.
[11] NEUMANN K E.Parallel-kinematical Machine:Australia,WO2006/054935[P].2006-05-26.
[12] OLAZAGOITIA J L,WYATT S.New PKM Tricept T9000and Its Application to Flexible Manufacturing at Aerospace Industry[J].SAE Technical Paper,2007-01-3820.
[13] ZOPPI M,ZLATANOV D,MOLFINO R.Kinematics Analysis of the Exechon Tripod[C]//Proceedings of the ASME 2010International Design Engineering Technical Conferences&Computers and Information in Engineering Conference IDETC/CIE.Quebec,2010:1-8.
[14] LI Q,HERVE J M.1T2RParallel Mechanisms without Parasitic Motion[J].IEEE Transactions on Robotics,2010,26(3):401-410.
[15]王飞博,吴伟峰,陈祥,等.基于运动/力传递特性的1T2R并联机构构型优选[J].机械工程学报,2014,50(23):20-28.WANG Feibo,WU Weifeng,CHEN Xiang,et al.Optimal Type Selection of 1T2RParallel Mechanisms Based on Motion/Force Transmissibility[J].Journal of Mechanical Engineering,2014,50(23):20-28.
[16]王飞博,陈巧红,武传宇,等.2-UPR-SPR并联机构尺度综合[J].机械工程学报,2015,51(21):24-32.WANG Feibo,CHEN Qiaohong,WU Chuanyu,et al.Dimensional Synthesis of a 2-UPR-SPR Parallel Manipulator[J].Journal of Mechanical Engineering,2015,51(21):24-32.
[17]汪满新,黄田.1T2R3自由度并联机构拓扑结构综合[J].机械工程学报,2015,51(17):1-7.WANG Manxin,HUANG Tian.Type Synthesis of1T2R3-DOF Parallel Mechanism[J].Journal of Mechanical Engineering,2015,51(17):1-7.
[18]胡微微,梅瑛,王书森,等.新型并联机构((2-RPR&RP)+R)&UPR构型及位置逆解分析[J].机械传动,2016,40(9):13-16.HU Weiwei,MEI Ying,WANG Shusen,et al.Configuration and Inverse Position Solution Analysis of a Novel((2-RPR&RP)+R)&UPR Parallel Mechanism[J].Journal of Mechanical Transmission,2016,40(9):13-16.
[19] KONG X W,GOSSELIN C M.Type Synthesis of3-DOF PPR-equivalent Parallel Manipulators Based on Screw Theory and the Concept of Virtual Chain[J].ASME Journal of Mechanical Design,2005,127:1113-1121.
[20]杨宁,马履中,艾永强,等.两平移一转动并联机构型综合研究[J].机械设计与研究,2005,21(5):29-32.YANG Ning,MA Lüzhong,AI Yongqiang,et al.Study on Structure Synthesis of Two Translations and One Rotation Parallel Mechanism[J].Machine Design and Research,2005,21(5):29-32.
[21] REFAAT S,HERVE J M,NAHAVANDI S.A Symmetrical Three-DOFs Rotational-translational Parallel-kinematics Mechanisms Based on Lie Group Theory[J].European Journal of Mechanics A/Solids,2006,25:550-558.
[22]张彦斌,吴鑫,刘宏昭,等.无奇异完全各向同性2T1R型并联机构的结构综合[J].中国机械工程,2008,19(3):277-281.ZHANG Yanbin,WU Xin,LIU Hongzhao,et al.Structural Synthesis of Singularity-free Fully-isotropic Parallel Mechanisms with 2T1R-type[J].China Mechanical Engineering,2008,19(3):277-281.
[23]杨廷力,刘安心,罗玉峰,等.机器人机构拓扑结构设计[M].北京:科学出版社,2012.YANG Tingli,LIU Anxin,LUO Yufeng,et al.Theory and Application of Robot Mechanism Topology[M].Beijing:Science Press,2012.
[24]刘平松.I4R型并联机器人全域性能及其优化研究[D].南京:南京理工大学,2013.LIU Pingsong.Global Performance and Optimization of I4R Parallel Robot[D].Nanjing:Nanjing University of Science and Technology,2013.