新型大工作空间并联机构及其性能研究
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摘要
为了并联机构顺利地应用于工作实际,设法使其向具有结构简单、工作空间大、控制容易等特点方向发展的相关研究越来越受到人们的关注
本文用附加一个冗余滑动的方法构建一种新型三平动大工作空间并联机构。并开展构型优化、位置解析、奇异性、承载能力特性、刚度建模等相关研究。
首先根据该型机构的组成和结构特点,利用矢量法建立机构的位置正解和反解方程以及速度雅可比矩阵,利用速度雅可比对机构的奇异性进行分析。
其次在考虑伸缩杆伸缩范围、球铰链转角限制及杆件干涉等约束时,搜索出机构可达工作空间边界。并以工作空间体积为评价指标,分析机构基本参数对工作空间的影响,找出影响工作空间的敏感因素,对实现机构大工作空间进行详细论述。
接着应用机构学理论求出机构的力雅可比矩阵,定义承载能力性能指标,描绘该指标在工作空间内的分布情况,分析机构的力承载能力特性,为机构应用提供指导。结合机构的雅可比矩阵,建立机构的整体刚度与单伸缩杆刚度模型。求得各向刚度在工作空间的分布情况。提出面平均刚度总体性能评价指标,并分析机构的结构参数对刚度的影响情况。为提高并联机构的性能,进行结构的改进提供理论依据。
In order to make the parallel manipulators successfully apply in practical, the research which developed to simple structure, large workspace, easy control and other characters has been paid more and more attention.
In this paper, we construct a new three translational parallel mechanism with large workspace by attaching a redundant sliding method. And carry out related researches about the configuration optimization, position analysis, singularity, bearing capacity, stiffness and so on.
Firstly, according to this type of manipulator's composition and structural characteristics, use the vector method to establish the forward and inverse solutions and velocity Jacobian matrix and analyze its singularity.
Secondly, considering the constraint of the range of the adjustable stem, the limit of the spherical joint's angle and the interference of the member, search the machine's reachable workspace. Put forward the workspace volume as the evaluation index, analyze the basic parameters on the influence of workspace, find out the sensitive factors, and discuss how to realize the large workspace in detail.
Finally, use the theory of mechanism to find out the Jacobian matrix of force, define the performance index of bearing capacity, depict the index's distribution in the workspace, and analyze the capacity characteristic of force bearing. Combined the Jacobian matrix, establish the stiffness model of the whole body and the single adjustable stem. Seek the distribution of the stiffness in workspace. Present the overall performance evaluation index of the average stiffness, and analyze the manipulator's structure parameters on the influence of the stiffness. Provide theoretical basis for improving the performance of the parallel manipulator and the structure.
本文用附加一个冗余滑动的方法构建一种新型三平动大工作空间并联机构。并开展构型优化、位置解析、奇异性、承载能力特性、刚度建模等相关研究。
首先根据该型机构的组成和结构特点,利用矢量法建立机构的位置正解和反解方程以及速度雅可比矩阵,利用速度雅可比对机构的奇异性进行分析。
其次在考虑伸缩杆伸缩范围、球铰链转角限制及杆件干涉等约束时,搜索出机构可达工作空间边界。并以工作空间体积为评价指标,分析机构基本参数对工作空间的影响,找出影响工作空间的敏感因素,对实现机构大工作空间进行详细论述。
接着应用机构学理论求出机构的力雅可比矩阵,定义承载能力性能指标,描绘该指标在工作空间内的分布情况,分析机构的力承载能力特性,为机构应用提供指导。结合机构的雅可比矩阵,建立机构的整体刚度与单伸缩杆刚度模型。求得各向刚度在工作空间的分布情况。提出面平均刚度总体性能评价指标,并分析机构的结构参数对刚度的影响情况。为提高并联机构的性能,进行结构的改进提供理论依据。
In order to make the parallel manipulators successfully apply in practical, the research which developed to simple structure, large workspace, easy control and other characters has been paid more and more attention.
In this paper, we construct a new three translational parallel mechanism with large workspace by attaching a redundant sliding method. And carry out related researches about the configuration optimization, position analysis, singularity, bearing capacity, stiffness and so on.
Firstly, according to this type of manipulator's composition and structural characteristics, use the vector method to establish the forward and inverse solutions and velocity Jacobian matrix and analyze its singularity.
Secondly, considering the constraint of the range of the adjustable stem, the limit of the spherical joint's angle and the interference of the member, search the machine's reachable workspace. Put forward the workspace volume as the evaluation index, analyze the basic parameters on the influence of workspace, find out the sensitive factors, and discuss how to realize the large workspace in detail.
Finally, use the theory of mechanism to find out the Jacobian matrix of force, define the performance index of bearing capacity, depict the index's distribution in the workspace, and analyze the capacity characteristic of force bearing. Combined the Jacobian matrix, establish the stiffness model of the whole body and the single adjustable stem. Seek the distribution of the stiffness in workspace. Present the overall performance evaluation index of the average stiffness, and analyze the manipulator's structure parameters on the influence of the stiffness. Provide theoretical basis for improving the performance of the parallel manipulator and the structure.
引文
[1]Fabrizio Caccavale, Bruno Siciliano, Luigi Villani. The Tricept Robot:Dynamics and Impedance Control[C]. IEEE Transactions on Mechatronics,2003,8(2):263-268
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[3]David Corbel, Marc Gouttefarde. Actuation Redundancy as a Way to Improve the Acceleration Capabilities of 3T and 3T1R Pick-and-Place Parallel Manipulators[J]. Journal of Mechanisms and Robotics,2010,2:041002(1-13)
[4]H.Chanal, E.Duc, P.Ray. A study of the inpact of machine tool structure on machining processes[J]. Machine Tools& Manufacture,2006,46:98-106
[5]王瑞.6-TPS并联平台型数控铣床关键技术的研究[D].哈尔滨工业大学,2007
[6]Jaime Gallardo, Ramon Rodriguez, Martin Caudillo. A family of spherical parallel manipulators with two legs[J]. Mechanism and Machine Theory,2008,43:201-216
[7]Peter B. Goldsmith. Design and Kinematics of a Three-Legged Parallel Manipulator[C]. IEEE Transactions on Robotics and Automation,2003,19(4):726-731
[8]朱春霞,蔡光起,杨斌久.基于ANSYS的3-TPT并联机床静刚度有限元分析[J].制造技术与机床,2006,8：48-51
[9]Karol Miller Ph.D. Experimental Verification of Modeling of DELTA Robot Dynamics by Direct Application of Hamilton's Principle[C]. IEEE International Conference on Robotics and Automation,1995,532-537
[10]Mehmet alper ERGIN, aykut cian satici,volkan patoglu, design optimization, impedance control and characterization of a modify delta robot[C]. IEEE International conference on mechatronics Istanbul,2011, turkey,737-742
[11]郜峰.3-DOF平动正交并联机器人的性能分析与研究[D],燕山大学,2009
[12]Chih-Cheng Kao, Tung-Sheng Zhan. Singulatity robustness of the 3RPS parallel manipulator by using the damped-rate resolvel-accelcration control[J]. Expert Systems with Applications,2010,37:5134-5144
[13]赵铁石,赵永生,黄真,欠秩并联机器人能连续支转轴存在的物理条件和数学判据[J].机器人,1999,21(5)：347-351
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[15]Dan Zhang. Clement M. Gosselin. Kinetostatic Analysis and Design Optimization of the Tricept Machine Tool Family[J]. Journal of Manufacturing Science and Engineering, 2002,124:725-733
[16]汪满新,王攀峰,宋轶民等.4自由度混联机器人静刚度分析[J].机械工程学报,2011,47(15)：9-15
[17]Alon wolf, Daniel Glozman, Singularity Analysis of Large Workspace 3RRRS Parallel Mechanism Using Line Geometry and Linear complex Approximation[J]. Journal of Mechanisms and Robotics,2011,3:011004(1-9)
[18]徐东光,吴盛林,袁立鹏.一种增大6-UPS并联机构工作空间的有效方法的研究[J].机床与液压,2005,8：27-30
[19]Hithoshi Kino, Toshiaki Yahiro, Fumiaki Takemura. Robust PD Control Using Adaptive Compensation for Completely Restrained Parallel-Wire Driven Robot:Translation Systems Using the Minimum Number of Wires Under Zero-Gravity Condition[C]. IEEE Transactions on Robotics,2007,23(4):803-812
[20]Hithoshi Kino, Toshiaki Yahiro, Shohei Taniguchi, Kenji Tahara. Sensorless Position Control Using Feedforward Internal Force for Completely Restrained Parallel-Wire-Driven Systems[C]. IEEE Transactions on Robotics,2009,25(2):467-474
[21]S.Kawamura, W.Choe, S.Tanaka, and S.R.Pandian. Development of an Ultrahigh Speed Robot FALCON using Wire Drive System[C]. IEEE International Conference on Robotics and Automation,1995,215-220
[22]Motoji Yamamoto, Noritaka Yanai, Akira Mohri. Trajectory Control of Incompletely Restrained Parallel-Wire-Suspended Mechanism Based on Inverse Dynamics[C]. IEEE Transactions on Robotics,2004,20(5):840-851
[23]林富国。6-PRRS并联机器人运动控制方法的研究[D].哈尔滨工业大学,2006
[24]Iain Williams&Geir Hovland, Torgny Brogardh. Kinematic Error Calibration of the Gantry-Tau Parallel Manipulator[C]. IEEE International Conference on Robotics and Automation,2006,4199-4204
[25]Ilya Tyapin, Geir Hovland. Kinematic and Elastostatic Design Optimization of the 3-DOF Gantry-Tau Parallel Kinematic Manipulator[J]. Modeling, Identification and Control,2009,30(2):39-56
[26]Matthew Murray, Geir Hovland, Torgny Brogardh. Optimised assembly mode reconfiguration of the 5-DOF Gantry-Tau using mixed-integer programming[J]. Meccanica,2011,46:101-111.
[27]Karol Miller. Maximization of Workspace Volume of 3-DOF Spatial Parallel Manipulator[J]. Journal of Mechanical Design,2002,124:347-357
[28]Mircea Badescu, Constantions Mavroidis. Workspace Optimization of 3-Legged UPU and UPS Parallel Platform With Joint Constraints[J]. Journal of Mechanical Design, 2004,126:291-300
[29]陈江红,房海蓉,岳聪.基于大工作空间的三自由度并联机器人的机构研究［J].机械工程与自动化,2010,1：142-147
[30]白志富,韩先国,陈五一.基于冗余驱动的大姿态角并联机构优化设计[J].北京航空航天大学学报,2006,32(7)：856-859
[31]徐东光,吴盛林,袁立鹏。一种增大6-UPS并联机构工作空间的有效方法的研[J].机床与液压,2005,8：27-29
[32]M.A.Laribi, L.Romdhane, S.Zeghloul. Analysis and dimensional Synthesis of the DELTA robot for a prescribed workspace[J]. Mechanism and Machine Theory,2007, 42:859-870
[33]吴耀中.具有冗余运动的六自由度转台的优化设计研究[D].华中科技大学,2009
[34]Raffaele Di Gregorio, Vincenzo Parenti-Castelli, Mobility Analysis of the 3-UPU Parallel Mechanism Assembled for a Pure Translationl Motion[J]. Journal of Mechanical Design,2002,124:259-264
[35]James A, Hunt. Robot Kinematics and the Gantry-Tau parallel machine[J]. Industrial Robot,2007,35(5):362-367
[36]李勇杰.四自由度并联机器人机构及其性能的研究[D].哈尔滨工业大学,2010
[37]曹永刚,张玉茹.6_RSS型并联机构奇异性分析[J]机械工程学报.2008,44(6)：19-24
[38]于洪健.基于并联机器人机构的汽车薄板件柔性装配火具研究[D].哈尔滨工业大学,2010
[39]郭瑞琴.并联机构奇异性分析及免奇异方法研究[D].同济大学,2007
[40]Ming Z. Huang jean-Luc Thebert. A study of workspace and singularity characteristics for disgn of 3-DOF planar parallel robots[J]. Int Adv Manuf Technol,2010,51:789-797
[41]杨宏兵.6-SPS并联机器人运动学及工作空间的仿真研究[D].合肥工业大学,2004
[42]Michael Stock, Karol Miller. Optimal Kinematic Design of Spatial Parallel Manipulators: Application to Linear Delta Robot[J]. Journal of Mechanical Design,2003,125:293-301
[43]Anatoly Pashkevich, Philippe WENGER, Damien CHABLAT. Kinematic and stiffness analysis of the orthoglide, a PKM with simple, regular workspace and homogeneous performances[C]. IEEE International Conference on Robotics and Automation,2007, 549-554
[44]姚郁,张义凤.基于逆向运动学的6自由度并联机构尺度综合[J].机械工程学报,2009,45(1)：9-13
[45]高峰,黄玉美,史文浩等.3-RPS并联机构工作空间分析的球坐票搜索方法[J].西 安理工大学学报,2001,17(3)：239-242
[46]高英儒.三自由度并联机器人工作空间研究[D].天津理工大学,2010
[47]李永刚.基于微分流形的全对称少自由度并联机构基础理论研究[D].天津大学,2006
[48]高峰,陈玉龙,彭斌彬.新型解耦和各向同性五维力传感器性能分析[J].机械工程学报,2004,40(9)：71-74
[49]李鹭扬.6SPS并联机床若干关键理论研究[D].南京航空航天大学,2007
[50]赵然.四自由度4-RRUR并联微动机器人设计与基础性能研究[D].燕山大学,2010
[51]Anatoly Pashkevichy, Philippe WENGER, Damien CHABLAT. kinematic and stiffness analysis of the Orthoglide, a PKM with simple,regular workspace and homogeneous performances[C]. IEEE international conference on Robotics and Automation,2007: 549-554
[52]Thomas Bonnemains, Helene Chanal, Belhassen-Chedliect. Stiffness Computation and Identification of Parallel Kinematic Machine Tools[J]. Journal of Manufacturing Science and Engineering,2009,131:041013-(1-7)
[53]代小林.三自由度并联机构分析与控制策略研究[D].哈尔滨工业大学,2009
[54]刘健.三腿4与5自由度并联机构刚度与变形分析[D].燕山大学,2011
[55]孙涛.新型五坐标可重构混联机械手的尺度综合与静刚度分析[D].天津大学,2008
[56]白志富,陈五一.球铰刚度计算模型及靠冗余支链实现并联机床刚度的改善[J].机械工程学报,2006,42(10)：142-150
[57]王友渔.可重构混联机械手Tricept和TriVarian的静刚度预估技术研究[D].燕山大学,2006
[58]金振林,高峰.基于6-SPS三维平台机构的新型并联机床刚度分析[J].机床与液压,2000,增刊：34：37
[2]孟强.电动六自由度并联机器人的特性分析与控制[D].哈尔滨工业大学,2008
[3]David Corbel, Marc Gouttefarde. Actuation Redundancy as a Way to Improve the Acceleration Capabilities of 3T and 3T1R Pick-and-Place Parallel Manipulators[J]. Journal of Mechanisms and Robotics,2010,2:041002(1-13)
[4]H.Chanal, E.Duc, P.Ray. A study of the inpact of machine tool structure on machining processes[J]. Machine Tools& Manufacture,2006,46:98-106
[5]王瑞.6-TPS并联平台型数控铣床关键技术的研究[D].哈尔滨工业大学,2007
[6]Jaime Gallardo, Ramon Rodriguez, Martin Caudillo. A family of spherical parallel manipulators with two legs[J]. Mechanism and Machine Theory,2008,43:201-216
[7]Peter B. Goldsmith. Design and Kinematics of a Three-Legged Parallel Manipulator[C]. IEEE Transactions on Robotics and Automation,2003,19(4):726-731
[8]朱春霞,蔡光起,杨斌久.基于ANSYS的3-TPT并联机床静刚度有限元分析[J].制造技术与机床,2006,8：48-51
[9]Karol Miller Ph.D. Experimental Verification of Modeling of DELTA Robot Dynamics by Direct Application of Hamilton's Principle[C]. IEEE International Conference on Robotics and Automation,1995,532-537
[10]Mehmet alper ERGIN, aykut cian satici,volkan patoglu, design optimization, impedance control and characterization of a modify delta robot[C]. IEEE International conference on mechatronics Istanbul,2011, turkey,737-742
[11]郜峰.3-DOF平动正交并联机器人的性能分析与研究[D],燕山大学,2009
[12]Chih-Cheng Kao, Tung-Sheng Zhan. Singulatity robustness of the 3RPS parallel manipulator by using the damped-rate resolvel-accelcration control[J]. Expert Systems with Applications,2010,37:5134-5144
[13]赵铁石,赵永生,黄真,欠秩并联机器人能连续支转轴存在的物理条件和数学判据[J].机器人,1999,21(5)：347-351
[14]崔培.3-RPS+RP五自由度混联机械臂机构学分析与仿真研究[D].燕山大学,2011
[15]Dan Zhang. Clement M. Gosselin. Kinetostatic Analysis and Design Optimization of the Tricept Machine Tool Family[J]. Journal of Manufacturing Science and Engineering, 2002,124:725-733
[16]汪满新,王攀峰,宋轶民等.4自由度混联机器人静刚度分析[J].机械工程学报,2011,47(15)：9-15
[17]Alon wolf, Daniel Glozman, Singularity Analysis of Large Workspace 3RRRS Parallel Mechanism Using Line Geometry and Linear complex Approximation[J]. Journal of Mechanisms and Robotics,2011,3:011004(1-9)
[18]徐东光,吴盛林,袁立鹏.一种增大6-UPS并联机构工作空间的有效方法的研究[J].机床与液压,2005,8：27-30
[19]Hithoshi Kino, Toshiaki Yahiro, Fumiaki Takemura. Robust PD Control Using Adaptive Compensation for Completely Restrained Parallel-Wire Driven Robot:Translation Systems Using the Minimum Number of Wires Under Zero-Gravity Condition[C]. IEEE Transactions on Robotics,2007,23(4):803-812
[20]Hithoshi Kino, Toshiaki Yahiro, Shohei Taniguchi, Kenji Tahara. Sensorless Position Control Using Feedforward Internal Force for Completely Restrained Parallel-Wire-Driven Systems[C]. IEEE Transactions on Robotics,2009,25(2):467-474
[21]S.Kawamura, W.Choe, S.Tanaka, and S.R.Pandian. Development of an Ultrahigh Speed Robot FALCON using Wire Drive System[C]. IEEE International Conference on Robotics and Automation,1995,215-220
[22]Motoji Yamamoto, Noritaka Yanai, Akira Mohri. Trajectory Control of Incompletely Restrained Parallel-Wire-Suspended Mechanism Based on Inverse Dynamics[C]. IEEE Transactions on Robotics,2004,20(5):840-851
[23]林富国。6-PRRS并联机器人运动控制方法的研究[D].哈尔滨工业大学,2006
[24]Iain Williams&Geir Hovland, Torgny Brogardh. Kinematic Error Calibration of the Gantry-Tau Parallel Manipulator[C]. IEEE International Conference on Robotics and Automation,2006,4199-4204
[25]Ilya Tyapin, Geir Hovland. Kinematic and Elastostatic Design Optimization of the 3-DOF Gantry-Tau Parallel Kinematic Manipulator[J]. Modeling, Identification and Control,2009,30(2):39-56
[26]Matthew Murray, Geir Hovland, Torgny Brogardh. Optimised assembly mode reconfiguration of the 5-DOF Gantry-Tau using mixed-integer programming[J]. Meccanica,2011,46:101-111.
[27]Karol Miller. Maximization of Workspace Volume of 3-DOF Spatial Parallel Manipulator[J]. Journal of Mechanical Design,2002,124:347-357
[28]Mircea Badescu, Constantions Mavroidis. Workspace Optimization of 3-Legged UPU and UPS Parallel Platform With Joint Constraints[J]. Journal of Mechanical Design, 2004,126:291-300
[29]陈江红,房海蓉,岳聪.基于大工作空间的三自由度并联机器人的机构研究［J].机械工程与自动化,2010,1：142-147
[30]白志富,韩先国,陈五一.基于冗余驱动的大姿态角并联机构优化设计[J].北京航空航天大学学报,2006,32(7)：856-859
[31]徐东光,吴盛林,袁立鹏。一种增大6-UPS并联机构工作空间的有效方法的研[J].机床与液压,2005,8：27-29
[32]M.A.Laribi, L.Romdhane, S.Zeghloul. Analysis and dimensional Synthesis of the DELTA robot for a prescribed workspace[J]. Mechanism and Machine Theory,2007, 42:859-870
[33]吴耀中.具有冗余运动的六自由度转台的优化设计研究[D].华中科技大学,2009
[34]Raffaele Di Gregorio, Vincenzo Parenti-Castelli, Mobility Analysis of the 3-UPU Parallel Mechanism Assembled for a Pure Translationl Motion[J]. Journal of Mechanical Design,2002,124:259-264
[35]James A, Hunt. Robot Kinematics and the Gantry-Tau parallel machine[J]. Industrial Robot,2007,35(5):362-367
[36]李勇杰.四自由度并联机器人机构及其性能的研究[D].哈尔滨工业大学,2010
[37]曹永刚,张玉茹.6_RSS型并联机构奇异性分析[J]机械工程学报.2008,44(6)：19-24
[38]于洪健.基于并联机器人机构的汽车薄板件柔性装配火具研究[D].哈尔滨工业大学,2010
[39]郭瑞琴.并联机构奇异性分析及免奇异方法研究[D].同济大学,2007
[40]Ming Z. Huang jean-Luc Thebert. A study of workspace and singularity characteristics for disgn of 3-DOF planar parallel robots[J]. Int Adv Manuf Technol,2010,51:789-797
[41]杨宏兵.6-SPS并联机器人运动学及工作空间的仿真研究[D].合肥工业大学,2004
[42]Michael Stock, Karol Miller. Optimal Kinematic Design of Spatial Parallel Manipulators: Application to Linear Delta Robot[J]. Journal of Mechanical Design,2003,125:293-301
[43]Anatoly Pashkevich, Philippe WENGER, Damien CHABLAT. Kinematic and stiffness analysis of the orthoglide, a PKM with simple, regular workspace and homogeneous performances[C]. IEEE International Conference on Robotics and Automation,2007, 549-554
[44]姚郁,张义凤.基于逆向运动学的6自由度并联机构尺度综合[J].机械工程学报,2009,45(1)：9-13
[45]高峰,黄玉美,史文浩等.3-RPS并联机构工作空间分析的球坐票搜索方法[J].西 安理工大学学报,2001,17(3)：239-242
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