一种新型2-CPR/RRR平面移动并联机构的设计与分析
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摘要
为了解决并联机构因结构耦合产生的强运动耦合性等问题,设计了一种含有恰约束运动链的新型2-CPR/RRR平面移动并联机构。基于螺旋理论研究了机构的自由度和输出特性,利用机构的几何关系建立了其位置矢量方程,推导出了不同形式主动输入情况下机构的运动数学模型;使用了Admas和Matlab分别对机构进行了运动学仿真,验证了理论分析的正确性;最后给出了该机构的一种3D打印机应用实例。研究结果表明:当以圆柱副的角位移作为主动输入时,速度雅可比矩阵为对角阵,因此机构具有无耦合运动特性;当以圆柱副的线性位移作为主动输入时,速度雅可比矩阵为单位阵,故机构具有完全各向同性的运动学特性。
In order to solve the problem of strong motion coupling caused by structural coupling of parallel mechanisms, a novel 2-CPR/RRR planar translational parallel mechanism with one pure constrained kinematic chain was proposed. Based on the screw theory, the degree of freedom and output motion characteristics of the mechanism were analyzed. The position vector equations were established in terms of the geometric conditions of the mechanism, and the kinematic mathematical mode were derived under the different input forms, rotary or linear. Kinematic simulation was performed by using Admas and Matlab, the kinematical curves of displacement, speed and acceleration were described. Finally, a new hybrid 3 D printer was designed based on the parallel mechanism proposed. The experimental results show that when the rotary displacements of the cylindrical pair is selected as the actuated inputs, the Jacobian matrix is a diagonal one and the mechanism has the uncoupled kinematics. Especially, while the linear displacements of the pair is as the inputs, the Jacobian becomes an unit matrix and it shows fully-isotropic throughout its whole workspace.
In order to solve the problem of strong motion coupling caused by structural coupling of parallel mechanisms, a novel 2-CPR/RRR planar translational parallel mechanism with one pure constrained kinematic chain was proposed. Based on the screw theory, the degree of freedom and output motion characteristics of the mechanism were analyzed. The position vector equations were established in terms of the geometric conditions of the mechanism, and the kinematic mathematical mode were derived under the different input forms, rotary or linear. Kinematic simulation was performed by using Admas and Matlab, the kinematical curves of displacement, speed and acceleration were described. Finally, a new hybrid 3 D printer was designed based on the parallel mechanism proposed. The experimental results show that when the rotary displacements of the cylindrical pair is selected as the actuated inputs, the Jacobian matrix is a diagonal one and the mechanism has the uncoupled kinematics. Especially, while the linear displacements of the pair is as the inputs, the Jacobian becomes an unit matrix and it shows fully-isotropic throughout its whole workspace.
引文
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[19] GOSSELIN C, ANGELES J. Singularity analysis of closed-loop kinematic chains[J]. IEEE Transactions on Robotics and Automation,1990, 6(3):281-290.
[20] 郭晓波,翟雁,吴丽娜.基于3D打印并联机器人机构的工作空间分析[J].机床与液压,2018,46(5):6-8.
[2] TANAKA Y, YUN S N, HITAKA Y, et al. Dynamic force analysis of the 6-DOF parallel manipulator [J]. Journal of the Korean Society for Power System Engineering,2015, 19(6): 5-11.
[3] MIAO Z, YAO Y, KONG X. Biped walking robot based on a 2-UPU+2-UU parallel mechanism[J]. Chinese Journal of Mechanical Engineering, 2014, 27(2):269-278.
[4] XU L, CHEN Q, HE L, et al. Kinematic analysis and design of a novel 3T1R 2-(PRR)2 RH hybrid manipulator[J]. Mechanism & Machine Theory, 2017, 112(1): 105-122.
[5] 王中林,张宁斌.冗余机构2URR-2RRU运动学与性能分析[J].机电工程,2018,35(1):1-9.
[6] 吴伟峰,张伟中,钱荣.一种新型二自由度并联机构的运动学及静力学分析[J].机电工程,2015,32(2):206-210.
[7] 冯李航,张为公,龚宗洋,等.Delta系列并联机器人研究进展与现状[J].机器人,2014,36(3):375-384.
[8] 毛冰滟,谢志江,吴小勇,等.基于引导人工蜂群算法的3-RPS并联机构正解优化[J].农业机械学报,2017,48(1):339-345.
[9] HUANG Tian, ZHANG Xian-li, LI Meng, et al. Conceptual design and dimensional synthesis of a novel 2-DOF translational parallel robot for pick-and-place operations[J]. ASME Journal of Mechanical Design, 2004, 126(3): 449-455.
[10] GERMAIN C, CARO S, BRIOT S, et al. Singularity-free design of the translational parallel manipulator IRSBot-2[J]. Mechanism & Machine Theory, 2013, 64(2): 262-285.
[11] 杨继东,杨中山,刘栋,等.H形并联机构运动学分析与样机精插补控制实验[J].农业机械学报,2014,45(11):324-329.
[12] 王启明,汪劲松,刘辛军,等.二移动自由度并联操作臂的动力学建模[J].清华大学学报:自然科学版,2002,42(11):1469-1472.
[13] 阎思达,陈雁,陈文卓.六自由度加油机器人运动特性分析[J].液压气动与密封,2017(11):26-29.
[14] KIM J W , KIM J H , KIM H S , et al. Design and control of two types of planar translational parallel manipulators with parallelogram mechanisms (ICCAS 2007) [C].International Conference on Control , Automation and Systems 2007, Seoul korea: IEEE, 2007.
[15] CARRICATO M, PARENTI-CASTELLI V. Singularity-free fully-isotropic translational parallel mechanisms [J]. International Journal of Robotics Research, 2002, 21(2): 161-176.
[16] GOGU G. Structural synthesis of fully-isotropic translational parallel robots via theory of linear transformations[J]. European Journal of Mechanics - A/Solids, 2004, 23(6): 1021-1039.
[17] 张彦斌,赵浥夫,李跃松,等.无耦合空间移动并联机构型综合[J].农业机械学报,2017,48(1):325-332.
[18] JOSHI S A, TSAI L-W. Jacobian analysis of limited-DOF parallel manipulators[J].ASME Journal of Mechanical Design, 2002, 124(2): 254-258.
[19] GOSSELIN C, ANGELES J. Singularity analysis of closed-loop kinematic chains[J]. IEEE Transactions on Robotics and Automation,1990, 6(3):281-290.
[20] 郭晓波,翟雁,吴丽娜.基于3D打印并联机器人机构的工作空间分析[J].机床与液压,2018,46(5):6-8.