一种新型激光焊接并联机器人结构及性能研究
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摘要
激光焊接并联机器人综合了并联机器人、焊接机器人和激光焊接方面的技术优势,是当今焊接工艺发展和应用的热点之一,是实现焊接工艺自动化的一个新的发展方向,对决定制造业未来发展前途具有重要的战略意义。
少自由度并联机构是机器人研究领域的热门课题,目前许多学者开发出很多新机构,但新机构要进入实际的工程应用领域还需进行很多系统的研究。本课题密切结合开发新型激光焊接并联制造装备的需求,在国家863计划资金资助下,系统研究一种新型激光焊接并联机器人的构型设计、运动学分析、工作空间研究、性能仿真等问题。
本课题总结归纳了少自由度并联机构的结构组成原理、并联机构的选型原则、并联机构运动副及运动支链的类型设计。以此为基础,根据简单及适用的原则,本课题提出了一种具有工程实用价值的三分支三自由度2TPRRR-TP并联机器人,并给出了该并联机器人的结构设计图。根据齐次坐标变换理论,构造出了该并联机构的位置正、逆解模型,并对其模型进行了系统研究,为我们正确的选型及控制策略提供了理论依据。利用极限边界搜索算法求出了该并联机构的工作空间,并运用MATLAB的绘图及数据可视化技术给出了该并联机构的工作空间的三维仿真实体模型。
最后用ADAMS软件建立了该并联机器人的虚拟样机,对其运动学性能进行了仿真,与理论计算相吻合。为后续的物理样机制造提供了技术储备。
Robot of parallel laser weld have integrated technical advantage of parallel robot, welding robot and aspect of laser weld. It is one of the hotspots of welding technics development and application nowadays. It is also a new developing direction of implementing welding technics automatization. Without question, researching of the robot will have an important strategical significance for manufacturing future.
The lower-mobility parallel mechanisms are hot topics in the field of robotics research. A lot of scholars have open out varieties of novel mechanisms. But before they enter into the field of actual engineering applications comprehensive investigations must be done. Under the help of national 863 project financing, this dissertation deals with the theory and methodology for the design of a novel laser welding parallel robot, including conceptual design, kinematics analysis, workspace synthesis and analysis, performance simulation.
This dissertation summarizes the theory of configuration synthesis the lower-mobility parallel mechanisms, selecting principle of parallel mechanisms and design of constraint chains. As a result, a novel 3-DOF parallel mechanisms named 2TPRRR-TP is proposed. Drawing of configuration design are also gained. According to theory of homogeneous coordinate transformation, both forward position analysis and inverse position analysis are formated. The two position model are systematically researched. The workspace of the novel parallel mechanism is solved based on arithmetic of limited border searching. Three-dimension solid simulation model is gained by drawing and VISC(visualization in scientific computing) of Matlab.
At last, this dissertation provided a believable method of the parallel mechanism design by using the virtual prototype technology with ADAMS software.
少自由度并联机构是机器人研究领域的热门课题,目前许多学者开发出很多新机构,但新机构要进入实际的工程应用领域还需进行很多系统的研究。本课题密切结合开发新型激光焊接并联制造装备的需求,在国家863计划资金资助下,系统研究一种新型激光焊接并联机器人的构型设计、运动学分析、工作空间研究、性能仿真等问题。
本课题总结归纳了少自由度并联机构的结构组成原理、并联机构的选型原则、并联机构运动副及运动支链的类型设计。以此为基础,根据简单及适用的原则,本课题提出了一种具有工程实用价值的三分支三自由度2TPRRR-TP并联机器人,并给出了该并联机器人的结构设计图。根据齐次坐标变换理论,构造出了该并联机构的位置正、逆解模型,并对其模型进行了系统研究,为我们正确的选型及控制策略提供了理论依据。利用极限边界搜索算法求出了该并联机构的工作空间,并运用MATLAB的绘图及数据可视化技术给出了该并联机构的工作空间的三维仿真实体模型。
最后用ADAMS软件建立了该并联机器人的虚拟样机,对其运动学性能进行了仿真,与理论计算相吻合。为后续的物理样机制造提供了技术储备。
Robot of parallel laser weld have integrated technical advantage of parallel robot, welding robot and aspect of laser weld. It is one of the hotspots of welding technics development and application nowadays. It is also a new developing direction of implementing welding technics automatization. Without question, researching of the robot will have an important strategical significance for manufacturing future.
The lower-mobility parallel mechanisms are hot topics in the field of robotics research. A lot of scholars have open out varieties of novel mechanisms. But before they enter into the field of actual engineering applications comprehensive investigations must be done. Under the help of national 863 project financing, this dissertation deals with the theory and methodology for the design of a novel laser welding parallel robot, including conceptual design, kinematics analysis, workspace synthesis and analysis, performance simulation.
This dissertation summarizes the theory of configuration synthesis the lower-mobility parallel mechanisms, selecting principle of parallel mechanisms and design of constraint chains. As a result, a novel 3-DOF parallel mechanisms named 2TPRRR-TP is proposed. Drawing of configuration design are also gained. According to theory of homogeneous coordinate transformation, both forward position analysis and inverse position analysis are formated. The two position model are systematically researched. The workspace of the novel parallel mechanism is solved based on arithmetic of limited border searching. Three-dimension solid simulation model is gained by drawing and VISC(visualization in scientific computing) of Matlab.
At last, this dissertation provided a believable method of the parallel mechanism design by using the virtual prototype technology with ADAMS software.
引文
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7. Pritschow G, Wurst K H. Systematic design of hexapods and other parallel link sy stems[J], Annals of the CIRP,1997,46(1):291-295.
8. Rey L, Clavel R. The Delta parallel robot, Parallel Kinematic Machine:Theoretical Aspects and Industrial Requirement[J], Boer C R, Molinari-Tosatti L, Smith K S (Ed s), New York:Springer,1999:401-417.
9. Gao F, Li W, Zhao X. New kinematic structures for 2-,3-,4-, and 5-DOF paralle 1 manipulator designs[J], Mechanism and Machine Theory,2002,37:1395-1411.
10. http://www.iwf.mavt.ethz.cn/web/D/titelseite.htm.
11. http://www.renault-automation.com.
12. Czwielong T, Zarske W. Pegasus-incorporating PKM into woodworking[J], In:Pro ceedings of the 3rd Chemnitz Parallel Kinematic Seminar, Verlag Wissenschaftliche Sc ripten, Zwickau, Germany,2002:843-856.
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14.刘辛军.少自由度并联机器人机构的机械设计与运动学设计[博十后出站报告],北京：清华大学.
15.黄田,李朦,李占贤.仅含转动副的二自由度平动并联机器人机构,中国发明专利,专利号：ZL 01145160.2,2001.12.31.
16.黄田,李檬,张大卫等.四自由度混联机器人,中国发明专利,公开号：CN 1439492,2003.3.6.
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18. Hunt K H. Kinematic Geometry of Mechanisms[M], Oxford:Oxford University Pr ess,1978.
19. Huang Z, Li Q C. General methodology for type synthesis of symmetrical lower-mobility parallel manipulators and several novel manipulators[J], The International Jou rnal of Robotics Research,2002,21(2):131-145.
20. Huang Z, Li Q C. Type synthesis of symmetrical lower-mobility parallel mechanis ms using the constraint-synthesis method[J], The International Journal of Robotics Res earch,2003,22(1):59-79.
21. Huang Z, Li S H, Zuo R G. Feasible instantaneous motions and kinematic charac teristics of a special 3-DOF 3-UPU parallel manipulator[J], Mechanism and Machine Theory,2004,39(9):957-970.
22.杨廷力.机器人机构拓扑结构学[M],北京：机械工业出版社,2004.
23. Herve J M. The Lie group of rigid body displacements, a fundamental tool for m echanism design[J], Mechanism and Machine Theory,1999,34:719-730.
24. Angeles J. The qualitative synthesis of parallel manipulators[J], ASME Journal of Mechanical Design,2004,126:617-624.
25. Li Q C, Huang Z, Herve J M. Type synthesis of 3R2T 5-DOF parallel mechanis ms using the Lie Group of displacements[J], IEEE Transactions on Robotics and Auto mation,2004,20(2):173-180.
26. Jin Q, Yang T L. Theory for topology synthesis of parallel manipulators and its application to three-dimension-translation parallel manipulators[J], ASME Journal of M echanical Design,2004,126:625-639.
27. Meng J, Liu G F, Li Z X. A geometric theory for synthesis and analysis of sub-6 DOF parallel manipulators[J], submitted to IEEE Transactions on Robotics.
28.王东明.消去法及其应用[M],北京：科学出版社,2002.
29.韩林,张昱,梁崇高.吴方法在平面并联机构位置正解中的应用[J],北京航空航天大学学报,1998,24(1)：116-119.
30.杨廷力,姚芳华.多项式方程组的主项解耦消元法[J],数学的实践与认识,2002,32(6)：1007-1015.
31.廖启征,梁崇高,张启先.空间7R机构位移分析的新研究[J],机械工程学报,1986,22(3)：1—8.
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34. Innocenti C, Castelli V P. Closed-Form Direct Position Analysis of a 5-5 Parallel Mechanism[J], ASME Journal of Mechanical Design,1993,115:515-521.
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39. Tsai M S, Shiau T N, Tsai Y J. Direct kinematic analysis of a 3-PRS parallel m echanism[J], Mechanism and Machine Theory,2003,38:71-83.
40. Geng Z, Haynes I. Neural Network Solution for the Forward Kinematics Problem of a Stewart Platform[J], IEEE international Conference on Robotics and Automation, Sacramento,California, USA,1991.
41. Han K, Hung Y, Youm W Y. New Resolution Scheme of the Forward Kinematics of Parallel Manipulators Using Extra sensors[J], ASME Journal of Mechanical Desig n,1996,118:214-219.
42. Bonev I A, Ryu J. A New Method for Solving the Direct Kinematics of General 6-6 Stewart Platform Using Three Linear Extra Sensors[J], Mechanism and Machine Theory,2000,35(1):423-436.
43. Huang Z, Modeling Formulation of 6-DOF Multiloop Parallel Manipulators Part 1-Kinematic Influence Matrix[J], The 4 th IFToMM Conference on Mechanisms and C AD, Bucharest, Romania,1985.
44.黄真,孔宪文.具有冗余度空间并联机构的运动分析[J],机械工程学报,1995,31(3)：44-50.
45.方跃法,黄真.三自由度3-RPS并联机器人机构的运动分析[J],机械科学与技术,1997,16(1)：82—88.
46.王洪波,黄真.六自由度并联机器人的拉格朗日方程[J],机器人,1990,90(1)：23-26.
47.孔宪文.多环空间连杆机构运动分析理论研究[D],南京：东南大学,1994.
48.夏富杰.空间并联机构运动分析的有限元法[J],机械科学与技术,1998,17(1)：60-62.
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61. Angeles J. The qualitative synthesis of parallel manipulators[J], ASME Journal of Mechanical Design,2004,126:617-624.
62. Huang T, Li Z X, Li M. Conceptual design and dimensional synthesis of a novel 2-DOF translational parallel robot for pick-and-place operations[J], ASME Journal of MechanicalDesign,2004,126(3):449-455.
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2.林尚扬等编著.焊接机器人及其应用[M],北京：机械工业出版社,2000.
3.虞钢,虞和济著.集成化激光智能加工工程[M],北京：冶金工业出版社,2002.
4.张曙,U.Heisel著.并联运动机床[M],北京：机械工业出版社,2003.
5. http://www. smttricept.com.
6. Tsai L W. Robot Analysis:The Mechanics of Serial and Parallel Manipulators[M], New York:Wiley-Interscience Publication,1999.
7. Pritschow G, Wurst K H. Systematic design of hexapods and other parallel link sy stems[J], Annals of the CIRP,1997,46(1):291-295.
8. Rey L, Clavel R. The Delta parallel robot, Parallel Kinematic Machine:Theoretical Aspects and Industrial Requirement[J], Boer C R, Molinari-Tosatti L, Smith K S (Ed s), New York:Springer,1999:401-417.
9. Gao F, Li W, Zhao X. New kinematic structures for 2-,3-,4-, and 5-DOF paralle 1 manipulator designs[J], Mechanism and Machine Theory,2002,37:1395-1411.
10. http://www.iwf.mavt.ethz.cn/web/D/titelseite.htm.
11. http://www.renault-automation.com.
12. Czwielong T, Zarske W. Pegasus-incorporating PKM into woodworking[J], In:Pro ceedings of the 3rd Chemnitz Parallel Kinematic Seminar, Verlag Wissenschaftliche Sc ripten, Zwickau, Germany,2002:843-856.
13. http://www.ifw.uni-hannover.de/.
14.刘辛军.少自由度并联机器人机构的机械设计与运动学设计[博十后出站报告],北京：清华大学.
15.黄田,李朦,李占贤.仅含转动副的二自由度平动并联机器人机构,中国发明专利,专利号：ZL 01145160.2,2001.12.31.
16.黄田,李檬,张大卫等.四自由度混联机器人,中国发明专利,公开号：CN 1439492,2003.3.6.
17. Waldron K J, Kinzel G L. Kinematics, Dynamics and Design of Machinery[M], N ew York:John Wiley&Sons,1999.
18. Hunt K H. Kinematic Geometry of Mechanisms[M], Oxford:Oxford University Pr ess,1978.
19. Huang Z, Li Q C. General methodology for type synthesis of symmetrical lower-mobility parallel manipulators and several novel manipulators[J], The International Jou rnal of Robotics Research,2002,21(2):131-145.
20. Huang Z, Li Q C. Type synthesis of symmetrical lower-mobility parallel mechanis ms using the constraint-synthesis method[J], The International Journal of Robotics Res earch,2003,22(1):59-79.
21. Huang Z, Li S H, Zuo R G. Feasible instantaneous motions and kinematic charac teristics of a special 3-DOF 3-UPU parallel manipulator[J], Mechanism and Machine Theory,2004,39(9):957-970.
22.杨廷力.机器人机构拓扑结构学[M],北京：机械工业出版社,2004.
23. Herve J M. The Lie group of rigid body displacements, a fundamental tool for m echanism design[J], Mechanism and Machine Theory,1999,34:719-730.
24. Angeles J. The qualitative synthesis of parallel manipulators[J], ASME Journal of Mechanical Design,2004,126:617-624.
25. Li Q C, Huang Z, Herve J M. Type synthesis of 3R2T 5-DOF parallel mechanis ms using the Lie Group of displacements[J], IEEE Transactions on Robotics and Auto mation,2004,20(2):173-180.
26. Jin Q, Yang T L. Theory for topology synthesis of parallel manipulators and its application to three-dimension-translation parallel manipulators[J], ASME Journal of M echanical Design,2004,126:625-639.
27. Meng J, Liu G F, Li Z X. A geometric theory for synthesis and analysis of sub-6 DOF parallel manipulators[J], submitted to IEEE Transactions on Robotics.
28.王东明.消去法及其应用[M],北京：科学出版社,2002.
29.韩林,张昱,梁崇高.吴方法在平面并联机构位置正解中的应用[J],北京航空航天大学学报,1998,24(1)：116-119.
30.杨廷力,姚芳华.多项式方程组的主项解耦消元法[J],数学的实践与认识,2002,32(6)：1007-1015.
31.廖启征,梁崇高,张启先.空间7R机构位移分析的新研究[J],机械工程学报,1986,22(3)：1—8.
32.粱崇高,.荣辉.一种Stewart平台机械手位移正解[J],机械工程学报,1991,27(2)：26-30.
33. Wen F A, Liang C G. Displacement Analysis of the 6-6 Stewart Platform Mecha nisms[J], Mechanism and Machine Theory,1994,29(4):547-557.
34. Innocenti C, Castelli V P. Closed-Form Direct Position Analysis of a 5-5 Parallel Mechanism[J], ASME Journal of Mechanical Design,1993,115:515-521.
35.李庆扬,莫孜中,祁力群.非线性方程组的数值解法[M],北京：科学出版社,1999.
36.张可村,赵英良.数值计算的算法与分析[M],北京：科学出版社,2003.
37.杨廷力.机械系统基本理论—结构学、运动学、动力学[M],北京：机械工业出版社,1996.
38. Egner S. Semi-numerical solution to 6/6-Stewart-platform kinematics based on sy mmetry Applicable Algebra in Engineering[J], Communication and Computing,1996,7 (6):449-468.
39. Tsai M S, Shiau T N, Tsai Y J. Direct kinematic analysis of a 3-PRS parallel m echanism[J], Mechanism and Machine Theory,2003,38:71-83.
40. Geng Z, Haynes I. Neural Network Solution for the Forward Kinematics Problem of a Stewart Platform[J], IEEE international Conference on Robotics and Automation, Sacramento,California, USA,1991.
41. Han K, Hung Y, Youm W Y. New Resolution Scheme of the Forward Kinematics of Parallel Manipulators Using Extra sensors[J], ASME Journal of Mechanical Desig n,1996,118:214-219.
42. Bonev I A, Ryu J. A New Method for Solving the Direct Kinematics of General 6-6 Stewart Platform Using Three Linear Extra Sensors[J], Mechanism and Machine Theory,2000,35(1):423-436.
43. Huang Z, Modeling Formulation of 6-DOF Multiloop Parallel Manipulators Part 1-Kinematic Influence Matrix[J], The 4 th IFToMM Conference on Mechanisms and C AD, Bucharest, Romania,1985.
44.黄真,孔宪文.具有冗余度空间并联机构的运动分析[J],机械工程学报,1995,31(3)：44-50.
45.方跃法,黄真.三自由度3-RPS并联机器人机构的运动分析[J],机械科学与技术,1997,16(1)：82—88.
46.王洪波,黄真.六自由度并联机器人的拉格朗日方程[J],机器人,1990,90(1)：23-26.
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