新型6-DOF串并混联拟人机械臂的性能分析与设计
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摘要
本文研究了一种新型6-DOF串并混联拟人机械臂的运动学、设计方法及其样机研制等问题。
提出了一种新型6-DOF串并混联拟人机械臂,这种混联拟人机械臂的肩部、上臂和前臂分别采用球面三自由度并联机构、五杆二自由度并联机构和四杆机构,肩部、上臂和前臂分别串联在一起,构成了3-2-1布局形式(即肩关节为三自由度,肘关节为二自由度,腕关节为一自由度)的拟人机械臂,发挥了并联机构和串联机构的优点。
分析了该机械臂肩关节和臂部的位置与工作空间,基于肩关节和臂部的位置反解及其结构约束条件,绘制了肩关节和臂部的工作空间轮廓图,并定量分析了各主要结构参数对肩关节和臂部工作空间大小的影响情况。
分析了该机械臂肩关节和臂部的运动学、静力学与几何误差,考虑线速度和角速度、力与力矩、位置误差与姿态误差的不同量纲,定义了多项运动学、静力学与几何误差性能评价指标,给出了这些性能评价指标在工作空间内的分布情况。
定义了这种6-DOF串并混联拟人机械臂肩关节和臂部的多项运动学、静力学的全域性能评价指标,建立了肩关节和臂部的几何空间模型,并在几何空间模型中研究了肩关节和臂部的各主要结构参数与其全域性能评价指标之间的关系,为合理设计肩关节和臂部的结构参数奠定了理论基础。
提出了这种机械臂的基于性能图谱的概率参数设计方法,选取了肩关节和臂部的结构参数,同时考虑其加工与装配工艺性,设计了肩关节和臂部样机,推导出该机械臂的位置正反解的方程式。
对肩关节样机进行了静力实验分析,找出各运动杆件随动平台自转姿态变化下(β、γ均为零,α变化)的力变化情况,设计了各运动杆件的轮廓形状。
The 6-DOF hybrid mechanical arm, including the shoulder, arm, wrist, affect the performance of the mechanical humanoid robot. In this dissertation, the shoulder and arm of the 6-DOF hybrid mechanical arm are analyzed, respectively.
A novel 6-DOF hybrid mechanical arm is proposed, and the spherical 3-DOF parallel mechanism, 5-bar 2-DOF parallel mechanism and 4-bar mechanism, are adopted as the shoulder, upper arm and forearm of the 6-DOF hybrid mechanical arm, and the shoulder, upper arm and forearm are connected in series, which have a lot of advantages of the parallel and series mechanisms.
The position and workspace of the shoulder and arm of the 6-DOF hybrid mechanical arm are, respectively, analyzed, in which the workspace of the shoulder and arm of the 6-DOF hybrid mechanical arm are, respectively, presented, and the effect of the parameters of shoulder and arm to the workspace are studied.
Since linear velocities and angular velocities and forces and torques have different dimensions, respectively, many kinematics, mechanics and errors performance evaluation indices are proposed based upon the study of the kinematics, mechanics and errors of the shoulder and arm of the 6-DOF hybrid mechanical arm. In addition, the distributions of the evaluation indices in workspace are presented.
The global kinematics, mechanics and errors performance evaluation indices are proposed. By using the physical model technique, the relationships between the global performance evaluation indices and the parameters of the 6-DOF hybrid mechanical arm are analyzed within the geometric model of the solution space defined by us, which provided the base for the parameters optimized of the shoulder and arm of the 6-DOF hybrid mechanical arm.
The statistics design method of the 6-DOF hybrid mechanical arm is proposed based on the index atlases, and the parameters of the shoulder and arm of the 6-DOF hybrid mechanical arm are optimized by using the statistics design method based on the index atlases. In addition, the prototype of the shoulder and arm of the 6-DOF hybrid mechanical arm are designed based upon the parameters optimized and technics, and the direct and inverse solutions of the 6-DOF hybrid mechanical arm are found based upon position analysis of the 6-DOF hybrid mechanical arm, which provide the foundation for the applications of the 6-DOF hybrid mechanical arm.
The experiment for statics of the shoulder of the 6-DOF hybrid mechanical arm is analyzed, and the contour shape of the moving bars are designed based on the distributions of the forces and torques on the moving limbs, which is proposed the foundation for design of the shoulder more.
The results and techniques obtained by this dissertation are significant and useful for the design and development of anthropopathic mechanical devices based on the parallel and series mechanism and for the industrialization of the 6-DOF hybrid mechanical arm.
提出了一种新型6-DOF串并混联拟人机械臂,这种混联拟人机械臂的肩部、上臂和前臂分别采用球面三自由度并联机构、五杆二自由度并联机构和四杆机构,肩部、上臂和前臂分别串联在一起,构成了3-2-1布局形式(即肩关节为三自由度,肘关节为二自由度,腕关节为一自由度)的拟人机械臂,发挥了并联机构和串联机构的优点。
分析了该机械臂肩关节和臂部的位置与工作空间,基于肩关节和臂部的位置反解及其结构约束条件,绘制了肩关节和臂部的工作空间轮廓图,并定量分析了各主要结构参数对肩关节和臂部工作空间大小的影响情况。
分析了该机械臂肩关节和臂部的运动学、静力学与几何误差,考虑线速度和角速度、力与力矩、位置误差与姿态误差的不同量纲,定义了多项运动学、静力学与几何误差性能评价指标,给出了这些性能评价指标在工作空间内的分布情况。
定义了这种6-DOF串并混联拟人机械臂肩关节和臂部的多项运动学、静力学的全域性能评价指标,建立了肩关节和臂部的几何空间模型,并在几何空间模型中研究了肩关节和臂部的各主要结构参数与其全域性能评价指标之间的关系,为合理设计肩关节和臂部的结构参数奠定了理论基础。
提出了这种机械臂的基于性能图谱的概率参数设计方法,选取了肩关节和臂部的结构参数,同时考虑其加工与装配工艺性,设计了肩关节和臂部样机,推导出该机械臂的位置正反解的方程式。
对肩关节样机进行了静力实验分析,找出各运动杆件随动平台自转姿态变化下(β、γ均为零,α变化)的力变化情况,设计了各运动杆件的轮廓形状。
The 6-DOF hybrid mechanical arm, including the shoulder, arm, wrist, affect the performance of the mechanical humanoid robot. In this dissertation, the shoulder and arm of the 6-DOF hybrid mechanical arm are analyzed, respectively.
A novel 6-DOF hybrid mechanical arm is proposed, and the spherical 3-DOF parallel mechanism, 5-bar 2-DOF parallel mechanism and 4-bar mechanism, are adopted as the shoulder, upper arm and forearm of the 6-DOF hybrid mechanical arm, and the shoulder, upper arm and forearm are connected in series, which have a lot of advantages of the parallel and series mechanisms.
The position and workspace of the shoulder and arm of the 6-DOF hybrid mechanical arm are, respectively, analyzed, in which the workspace of the shoulder and arm of the 6-DOF hybrid mechanical arm are, respectively, presented, and the effect of the parameters of shoulder and arm to the workspace are studied.
Since linear velocities and angular velocities and forces and torques have different dimensions, respectively, many kinematics, mechanics and errors performance evaluation indices are proposed based upon the study of the kinematics, mechanics and errors of the shoulder and arm of the 6-DOF hybrid mechanical arm. In addition, the distributions of the evaluation indices in workspace are presented.
The global kinematics, mechanics and errors performance evaluation indices are proposed. By using the physical model technique, the relationships between the global performance evaluation indices and the parameters of the 6-DOF hybrid mechanical arm are analyzed within the geometric model of the solution space defined by us, which provided the base for the parameters optimized of the shoulder and arm of the 6-DOF hybrid mechanical arm.
The statistics design method of the 6-DOF hybrid mechanical arm is proposed based on the index atlases, and the parameters of the shoulder and arm of the 6-DOF hybrid mechanical arm are optimized by using the statistics design method based on the index atlases. In addition, the prototype of the shoulder and arm of the 6-DOF hybrid mechanical arm are designed based upon the parameters optimized and technics, and the direct and inverse solutions of the 6-DOF hybrid mechanical arm are found based upon position analysis of the 6-DOF hybrid mechanical arm, which provide the foundation for the applications of the 6-DOF hybrid mechanical arm.
The experiment for statics of the shoulder of the 6-DOF hybrid mechanical arm is analyzed, and the contour shape of the moving bars are designed based on the distributions of the forces and torques on the moving limbs, which is proposed the foundation for design of the shoulder more.
The results and techniques obtained by this dissertation are significant and useful for the design and development of anthropopathic mechanical devices based on the parallel and series mechanism and for the industrialization of the 6-DOF hybrid mechanical arm.
引文
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