新型5自由度冗余混联机床的机构设计及运动学分析
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摘要
提出了1种由3自由度冗余驱动并联机构4-UPS/PU,串联上二自由度X-Y运动平台来共同实现五自由度运动的新型混联机床的机构设计方案。运用螺旋理论分析了该机床实现的3T2R运动原理,计算出该机构的自由度;利用解析矢量法及几何关系建立机构位置逆解方程,确定驱动杆和动平台之间的位姿关系。运用影响系数法建立了1阶运动影响系数矩阵-Jacobian矩阵,最后通过运动学仿真,验证了机床运动学分析的正确性。
A structure scheme for a novel 5-DOF hybrid machine tool( HMT) is proposed. In this scheme,a Hybrid Kinematics Machine( HKM) which was composed of a 3-DOF-4-UPS/PU parallel kinematics mechanism and a 2-DOF XY table.Using screw theory analyzes the machine realize 3 T2 R motion principle to calculate the degrees of freedom;the vectorial analytic method and geometric relations to establish mechanism and its inverse position solution of equations. Then,the performance of the velocity and the orientation space was analyzed.Using the influence coefficient method established the first-order influence coefficient matrix-Jacobian matrix. Finally the validity of the kinematics analysis of HKM was verified by the kinematics simulation.
A structure scheme for a novel 5-DOF hybrid machine tool( HMT) is proposed. In this scheme,a Hybrid Kinematics Machine( HKM) which was composed of a 3-DOF-4-UPS/PU parallel kinematics mechanism and a 2-DOF XY table.Using screw theory analyzes the machine realize 3 T2 R motion principle to calculate the degrees of freedom;the vectorial analytic method and geometric relations to establish mechanism and its inverse position solution of equations. Then,the performance of the velocity and the orientation space was analyzed.Using the influence coefficient method established the first-order influence coefficient matrix-Jacobian matrix. Finally the validity of the kinematics analysis of HKM was verified by the kinematics simulation.
引文
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[2]沈惠平,张曙,杨廷力,等.并联运动机械结构综合及其优化设计研究的最新进展[J].中国机械工程,2009,20(1):118-125.
[3]NEUMANN K E.Robot:US,4732525[P].1988-03-22.
[4]张曙.航空结构件加工的新一代数控机床—解读Ecospeed领悟机床设计之道[J].金属加工:冷加工,2012(3):2-5.
[5]Adept Technology Company Website.Quattro parallel robots[EB/OL].[2011-03].www.adept.com.
[6]刘辛军,汪劲松,高峰,等.并联机器人机构新构型设计的探讨[J].中国机械工程,2001,12(12):1339-1342.
[7]HUANG T,WANG P F,ZHAO X M,et al.Design of a 4-DOF hybrid PKM module for large structural component assembly[J].Manufacturing Technology,2010,59(1):159-162.
[8]赵铁石,黄真.欠秩空间并联机器人输入选取的理论与应用[J].机械工程学报,2000,36(10):81-85.
[9]王书森,梅瑛,李瑞琴.一种新型3T2R冗余驱动混联机构的位置逆解和工作空间分析[J].机械传动,2016,40(3):23-27.
[10]刘延斌,底复龑.一种新型3-RRRU并联机构及其运动学分析[J].机械工程学报,2013,24(4):476-481.
[11]陈纯,黄玉美,韩旭,等.五面加工混机床概念设计[J].农业机械学报,2009,40(9):187-192.
[12]黄真,赵永生,赵铁石.高等空间机构学[M].第2版.北京:高等教育出版社,2014.
[13]孙江宏,牛晓辉,贾晓丽,等.2-PSS&PPU并联微动机器人的工作空间分析[J].机械设计与研究,2015,31(6)4-7.