基于平面5R并联机构的三自由度混联机床研究
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摘要
随着并联驱动技术的发展以及为满足特定目的的需要,少自由度并联机构的研究与应用日益广泛。本文运用DELTA二自由度5R并联机构构造了一种三自由度混联机床的原型,研究了平面5R并联机构的原理与构型特点,对5R并联机构的运动学和性能指标、机床总体方案设计及其仿真等问题进行深入系统的研究。
对国内外少自由度并联机构及其研究现状进行了综述的基础上,采用串、并联机构相结合的思想,设计了一种基于平面二自由度5R并联机构的三自由度混联机床；建立了DELTA并联机构的运动学模型,对并联机构的位置正反解、速度雅可比矩阵、理论工作空间、刚度、灵巧度性能指标、奇异位置等问题进行了深入探讨；基于工作空间和刚度性能指标的综合确定了5R并联机构的杆长参数；给出了三自由度混联机床运动功能的实现方案,采用模块化思想完成了平面5R混联机床的开发设计；运用三维CAD(Solid Edge)软件建立了混联机床虚拟样机的实体模型,并对虚拟样机进行了干涉检验。采用MATLAB软件对混联机床并联运动模块的位置反解进行了理论分析与计算；运用ADAMS软件进行并联机构仿真分析,对末端点确定工作轨迹的仿真实现进行研究,得到正确的加工轨迹,验证了三自由度混联机床设计的合理性,为并联机构的应用和混联机床的设计提供了依据。
With the development of the parallel driving technology and the needs of satisfying the special target, the researches and applications of lower-mobility parallel mechanism has been wider. In this thesis, the principle and characteristics of configuration of planar 5R parallel are studied based on the prototype of 3-dof hybrid machine tool which is constructed by DELTA 2-dof 5R parallel mechanism. Meanwhile, some relative aspects are research deeply and systematically, such as kinematics and performance analysis of parallel mechanism, the general design of machine tool and simulation.
After exhaustive discussing and summarizing on the current situation analysis of research on lower-mobility parallel mechanism and hybrid mechanism, a 3-dof hybrid machine tool, based on planar 5R parallel mechanism, is proposed by combining the ideas of serial and parallel mechanism. The forward/inverse position solutions, velocity Jacobin matrix, theoretical workspace, stiffness, performance index of dexterity and singular configuration are deeply on the base of the kinematics model of DELTA parallel mechanism which is established in this thesis. The rod length of 5R parallel is setted by combining the workspace and the performance index of stiffness; the implementation scheme of kinematics function of 3-dof hybrid machine tool is proposed and the designing of planar 5R hybrid machine tool based on modularization idea is realized. Through using 3-D CAD (Solid Edge) software, virtual prototype is established, and the interference detection of it is taken on. Finally, inverse position solution of parallel motion module of hybrid machine tool is theoretically analyzed and calculated by MATLAB; based on Adams software, kinematics simulation analysis is preformed, and the correct machining track is obtained by simulating the working track of end point, which verifies the validity of theoretical calculation. The simulation results provide theoretical foundation for practical designing, imitation motion, meanwhile, they provide a valid analysis method for engineering design of machine tool.
对国内外少自由度并联机构及其研究现状进行了综述的基础上,采用串、并联机构相结合的思想,设计了一种基于平面二自由度5R并联机构的三自由度混联机床；建立了DELTA并联机构的运动学模型,对并联机构的位置正反解、速度雅可比矩阵、理论工作空间、刚度、灵巧度性能指标、奇异位置等问题进行了深入探讨；基于工作空间和刚度性能指标的综合确定了5R并联机构的杆长参数；给出了三自由度混联机床运动功能的实现方案,采用模块化思想完成了平面5R混联机床的开发设计；运用三维CAD(Solid Edge)软件建立了混联机床虚拟样机的实体模型,并对虚拟样机进行了干涉检验。采用MATLAB软件对混联机床并联运动模块的位置反解进行了理论分析与计算；运用ADAMS软件进行并联机构仿真分析,对末端点确定工作轨迹的仿真实现进行研究,得到正确的加工轨迹,验证了三自由度混联机床设计的合理性,为并联机构的应用和混联机床的设计提供了依据。
With the development of the parallel driving technology and the needs of satisfying the special target, the researches and applications of lower-mobility parallel mechanism has been wider. In this thesis, the principle and characteristics of configuration of planar 5R parallel are studied based on the prototype of 3-dof hybrid machine tool which is constructed by DELTA 2-dof 5R parallel mechanism. Meanwhile, some relative aspects are research deeply and systematically, such as kinematics and performance analysis of parallel mechanism, the general design of machine tool and simulation.
After exhaustive discussing and summarizing on the current situation analysis of research on lower-mobility parallel mechanism and hybrid mechanism, a 3-dof hybrid machine tool, based on planar 5R parallel mechanism, is proposed by combining the ideas of serial and parallel mechanism. The forward/inverse position solutions, velocity Jacobin matrix, theoretical workspace, stiffness, performance index of dexterity and singular configuration are deeply on the base of the kinematics model of DELTA parallel mechanism which is established in this thesis. The rod length of 5R parallel is setted by combining the workspace and the performance index of stiffness; the implementation scheme of kinematics function of 3-dof hybrid machine tool is proposed and the designing of planar 5R hybrid machine tool based on modularization idea is realized. Through using 3-D CAD (Solid Edge) software, virtual prototype is established, and the interference detection of it is taken on. Finally, inverse position solution of parallel motion module of hybrid machine tool is theoretically analyzed and calculated by MATLAB; based on Adams software, kinematics simulation analysis is preformed, and the correct machining track is obtained by simulating the working track of end point, which verifies the validity of theoretical calculation. The simulation results provide theoretical foundation for practical designing, imitation motion, meanwhile, they provide a valid analysis method for engineering design of machine tool.
引文
[1]周凯,陶真,毛得柱.虚拟轴机床的发展趋势-混联机床[J].现代制造工程,2002,(03)：5-7.
[2]储开宇.21世纪新式数控机床-虚拟轴机床[J].机械工程师,2004,(08)：15-17.
[3]汪劲松,黄田.并联机床-机床行业面临的机遇与挑战[J].中国机械工程,1999,10(10)：1103-1107.
[4]Fitzgerald J M. Evaluating the Stewart platform for manufacturing[J]. Robotics Today,1993,6(1): 1-3
[5]Hollingum J. Hexapods to take over[J]. Industrial Robot,1997,24(6):428-431
[6]J. P. Merlet. An initiative for the kinematics study of parallel manipulators[J]. Fundamental issues and future research directions for parallel mechanisms and manipulators,2002, Quebee City, CA. 2002:1012-1016.
[7]Lung Wen Tsai. Robot analysis-The Mechanics of Serial and Parallel Manipulators[J]. J. Wiley& Sons Inc. New York, USA,1999:34-41.
[8]王小兵.一种新型混联机床的应用基础研究[D].成都：电子科技大学,2006：2.
[9]邬昌峰,高荣慧.并联机床的特点、研究现状及展望[J].机械,2003,(30)：1-3.
[10]黄真.并联机器人机构学理论及控制[M].北京：机械工业出版社,1997：1-11.
[11]Raghavan. M. The Stewart Platform of General Geometry Has 40 configurations[J]. ASML Journal of Mechanical Design.1993,115 (2):277-282.
[12]H. MacCallion and D. T. Pham. The Analysis of a Six Degree of Freedom Workstation for Mechanised Assembly[J]. Proceedings of the 5th World Congress on Theory of Machines and Mechanisms,1979:123-130.
[13]段广洪,李铁民.并联机器的起源和发展[J].WMEN,2006,(1),41-48.
[14]马履中,周建中.机器人与柔性制造系统[M].北京：化学工业出版社,2007：190-192.
[15]黄玉美,高峰,史文浩等.混联式数控机床的发展[J].制造技术与机床,2001,(8)：8-9.
[16]D. McCloy. Some Comparisons of Serial-Driver and Parallel Driver Manipulator[J]. Robotica, 1990,8:355-362.
[17]刘辛军.并联机器人机构尺寸与性能关系分析及其设计理论研究[D].燕山大学,1999：25-33.
[18]Lin, Chuen Sen, Lee, Terry. A Classification Method for Input Joints of Planar Five-Bar Mechanisms[J]. Mechanism and Machine Theory,2003,38:1307-1322.
[19]Xinjun Liu, Jinsong Wang And Gunter Pritschow. Performance Atlases and Optimum Design of Planar 5R Symmetrical Parallel Mechanisms[J]. Mechanism and Machine Theory,2006,41: 119-144.
[20]Karger, Adolf. Architecture Singular Planar Parallel Manipulators[J]. Mechanism and Machine Theory,2003,38(11):1149-1164.
[21]Xinjun Liu, Jin song Wang, Gunter Pritschow. Kinematics, Singularity and Workspace of Planar 5R Symmetrical Parallel Mechanisms[J]. Mechanism and Machine Theory,2006,41:145-169.
[22]李仕华.儿种空间少自由度并联机器人机构分析与综合的理论研究[D].秦皇岛：燕山大学,2004.
[23]S. Kock, W. Schumacher. A Parallel X-Y Manipulator with Actuation Redundancy for High-Speed and Active-Stiffness Applications[J]. Proceedings of the 1998 Ieee Int.Conf.On Roboitcs and Automation,1998, Belgium:2295-2300.
[24]屠凤莲.2-PRR并联机床的设计理论及方法研究[D].河北工业大学,2006.
[25]Fen Gao, et al. New Kinematic structures for 2-,3-,4-, and 5-DOF parallel manipulator designs[J]. Mechanism and Machine Theory,2002,37:1395-1411
[26]熊有伦，丁汉,刘恩沧.机器人学[M].北京：机械工业出版社,1993：55-69.
[27]C. M. Gosselin, J. Angeles. Singularity Analysis of Closed-Loop Kinematic Chains[J]. IEEE Trans. Robotics& Auto.,1990,6(3):281-290.
[28]F. Gao, X. Q. Zhang, Y. S. Zhao, et al. A Physical Model of the Solution Space and the Atlases of the Reachable Workspaces for 2-DOF Parallel Plane Wrists[J]. Mechanism and Machine theory, 1996,31:173-184.
[29]徐卫良,钱瑞明(译),理查德.摩雷,李泽湘等(著).机器人操作的数学导论[M].机械工业出版社,1998：130-135.
[30]J. J. Cervantes-Sanchez, J. C. Hernandez-Rodriguez, On the 5R Spherical, Symmetric Manipulator:Workspace and Singularity Characterization[J]. Mechanism and Machine Theory, 2004,39:409-429.
[31]C.M. Gosselin, J. Angeles. A Global Performance Index for the Kinematic Optimization of Robotic Manipulators[J]. Transaction of the ASME, Journal of Mechanical Design,1991,113: 220-226.
[32]J.-K. Salisbury, J. J. Craig. Articulated Hands:Force Control and Kinematic Issues[J]. Int. J. Robot. 1982,1(1):4-12.
[33]J. J. Cervantes-Sanchez, J. C. Hernandez-Rodriguez, et al. On the Workspace,Assembly Configurations and Singularity Curves of the RRRRR-Type Planar Manipulator[J]. Mechanism and Machine Theory,2000,35:1117-1139.
[34]张顺心,范顺成,高峰等.多功能模块化串并联机床结构的研究[J].机械设计与研究,2003,19：21-23.
[35]刘辛军.并联二自由度平面机器人性能与尺寸关系的研究[D].燕山大学,1995.
[36]Kerle H. Parallelroboter in der Handhabungstechnik [R]. VDI Berichte 1111,1994:207-227.
[37]林辉,张法轮.虚拟样机在家具产品CAD设计中的应用[J].家具与室内装饰,2001：2.
[38]陈定方,罗亚波.虚拟设计[M].机械工业出版社,2002.
[39]ME 115a, Serial Robot Kinematics Example (6 dof)[J], Kinematics Example 3P.nb,Winter 2003
[40]陈辉.基于AHP的协作式并联机床模糊综合评价及仿真分析[D].北京：北京交通大学,2004.
[41]郑建荣ADAMS-虚拟样机技术入门与提高[M].机械工业出版社,2002：1.
[42]张延华,许阳明.面向多学科的新一代程序设计语言[J].计算机应用研究,1998,16(6)：4-8.
[43]马晓丽,马履中,周兆忠.并联机器人机构的虚拟样机运动仿真实验研究[J].计算机仿真,2006,23(6)：213-216.
[44]游世明,陈思忠,梁贺明.基于ADAMS的并联机器人运动学和动力学仿真[J].计算机仿真,2005,22(8)：181-185.
[45]关立文,汪劲松,王立平.并联机床虚拟样机的概念设计[J].清华大学学报(自然科学版),2003,43(8)：1020-1023.
[46]戴田国.3-RRR并联机构虚拟样机设计与仿真[D].南京：南京理工大学,2005：6.
[47]汪劲松,朱煌.并联机床虚拟产品设计系统及基本框架研究[J].计算机集成制造系统-CIMS,2004(5)：57-62.
[48]郭旭伟,王知行.基于ADAMS的并联机床运动学和动力学仿真[J].中国制造业信息化,2003(7)：119-122.
[49]黄田等.虚拟环境下并联机床建模与仿真[J].制造技术与机床,2000(1)：19-20.
[50]彭力明.基于虚拟样机技术的虚拟轴机床机构分析研究[D].杭州：浙江大学,2004：2.
[2]储开宇.21世纪新式数控机床-虚拟轴机床[J].机械工程师,2004,(08)：15-17.
[3]汪劲松,黄田.并联机床-机床行业面临的机遇与挑战[J].中国机械工程,1999,10(10)：1103-1107.
[4]Fitzgerald J M. Evaluating the Stewart platform for manufacturing[J]. Robotics Today,1993,6(1): 1-3
[5]Hollingum J. Hexapods to take over[J]. Industrial Robot,1997,24(6):428-431
[6]J. P. Merlet. An initiative for the kinematics study of parallel manipulators[J]. Fundamental issues and future research directions for parallel mechanisms and manipulators,2002, Quebee City, CA. 2002:1012-1016.
[7]Lung Wen Tsai. Robot analysis-The Mechanics of Serial and Parallel Manipulators[J]. J. Wiley& Sons Inc. New York, USA,1999:34-41.
[8]王小兵.一种新型混联机床的应用基础研究[D].成都：电子科技大学,2006：2.
[9]邬昌峰,高荣慧.并联机床的特点、研究现状及展望[J].机械,2003,(30)：1-3.
[10]黄真.并联机器人机构学理论及控制[M].北京：机械工业出版社,1997：1-11.
[11]Raghavan. M. The Stewart Platform of General Geometry Has 40 configurations[J]. ASML Journal of Mechanical Design.1993,115 (2):277-282.
[12]H. MacCallion and D. T. Pham. The Analysis of a Six Degree of Freedom Workstation for Mechanised Assembly[J]. Proceedings of the 5th World Congress on Theory of Machines and Mechanisms,1979:123-130.
[13]段广洪,李铁民.并联机器的起源和发展[J].WMEN,2006,(1),41-48.
[14]马履中,周建中.机器人与柔性制造系统[M].北京：化学工业出版社,2007：190-192.
[15]黄玉美,高峰,史文浩等.混联式数控机床的发展[J].制造技术与机床,2001,(8)：8-9.
[16]D. McCloy. Some Comparisons of Serial-Driver and Parallel Driver Manipulator[J]. Robotica, 1990,8:355-362.
[17]刘辛军.并联机器人机构尺寸与性能关系分析及其设计理论研究[D].燕山大学,1999：25-33.
[18]Lin, Chuen Sen, Lee, Terry. A Classification Method for Input Joints of Planar Five-Bar Mechanisms[J]. Mechanism and Machine Theory,2003,38:1307-1322.
[19]Xinjun Liu, Jinsong Wang And Gunter Pritschow. Performance Atlases and Optimum Design of Planar 5R Symmetrical Parallel Mechanisms[J]. Mechanism and Machine Theory,2006,41: 119-144.
[20]Karger, Adolf. Architecture Singular Planar Parallel Manipulators[J]. Mechanism and Machine Theory,2003,38(11):1149-1164.
[21]Xinjun Liu, Jin song Wang, Gunter Pritschow. Kinematics, Singularity and Workspace of Planar 5R Symmetrical Parallel Mechanisms[J]. Mechanism and Machine Theory,2006,41:145-169.
[22]李仕华.儿种空间少自由度并联机器人机构分析与综合的理论研究[D].秦皇岛：燕山大学,2004.
[23]S. Kock, W. Schumacher. A Parallel X-Y Manipulator with Actuation Redundancy for High-Speed and Active-Stiffness Applications[J]. Proceedings of the 1998 Ieee Int.Conf.On Roboitcs and Automation,1998, Belgium:2295-2300.
[24]屠凤莲.2-PRR并联机床的设计理论及方法研究[D].河北工业大学,2006.
[25]Fen Gao, et al. New Kinematic structures for 2-,3-,4-, and 5-DOF parallel manipulator designs[J]. Mechanism and Machine Theory,2002,37:1395-1411
[26]熊有伦，丁汉,刘恩沧.机器人学[M].北京：机械工业出版社,1993：55-69.
[27]C. M. Gosselin, J. Angeles. Singularity Analysis of Closed-Loop Kinematic Chains[J]. IEEE Trans. Robotics& Auto.,1990,6(3):281-290.
[28]F. Gao, X. Q. Zhang, Y. S. Zhao, et al. A Physical Model of the Solution Space and the Atlases of the Reachable Workspaces for 2-DOF Parallel Plane Wrists[J]. Mechanism and Machine theory, 1996,31:173-184.
[29]徐卫良,钱瑞明(译),理查德.摩雷,李泽湘等(著).机器人操作的数学导论[M].机械工业出版社,1998：130-135.
[30]J. J. Cervantes-Sanchez, J. C. Hernandez-Rodriguez, On the 5R Spherical, Symmetric Manipulator:Workspace and Singularity Characterization[J]. Mechanism and Machine Theory, 2004,39:409-429.
[31]C.M. Gosselin, J. Angeles. A Global Performance Index for the Kinematic Optimization of Robotic Manipulators[J]. Transaction of the ASME, Journal of Mechanical Design,1991,113: 220-226.
[32]J.-K. Salisbury, J. J. Craig. Articulated Hands:Force Control and Kinematic Issues[J]. Int. J. Robot. 1982,1(1):4-12.
[33]J. J. Cervantes-Sanchez, J. C. Hernandez-Rodriguez, et al. On the Workspace,Assembly Configurations and Singularity Curves of the RRRRR-Type Planar Manipulator[J]. Mechanism and Machine Theory,2000,35:1117-1139.
[34]张顺心,范顺成,高峰等.多功能模块化串并联机床结构的研究[J].机械设计与研究,2003,19：21-23.
[35]刘辛军.并联二自由度平面机器人性能与尺寸关系的研究[D].燕山大学,1995.
[36]Kerle H. Parallelroboter in der Handhabungstechnik [R]. VDI Berichte 1111,1994:207-227.
[37]林辉,张法轮.虚拟样机在家具产品CAD设计中的应用[J].家具与室内装饰,2001：2.
[38]陈定方,罗亚波.虚拟设计[M].机械工业出版社,2002.
[39]ME 115a, Serial Robot Kinematics Example (6 dof)[J], Kinematics Example 3P.nb,Winter 2003
[40]陈辉.基于AHP的协作式并联机床模糊综合评价及仿真分析[D].北京：北京交通大学,2004.
[41]郑建荣ADAMS-虚拟样机技术入门与提高[M].机械工业出版社,2002：1.
[42]张延华,许阳明.面向多学科的新一代程序设计语言[J].计算机应用研究,1998,16(6)：4-8.
[43]马晓丽,马履中,周兆忠.并联机器人机构的虚拟样机运动仿真实验研究[J].计算机仿真,2006,23(6)：213-216.
[44]游世明,陈思忠,梁贺明.基于ADAMS的并联机器人运动学和动力学仿真[J].计算机仿真,2005,22(8)：181-185.
[45]关立文,汪劲松,王立平.并联机床虚拟样机的概念设计[J].清华大学学报(自然科学版),2003,43(8)：1020-1023.
[46]戴田国.3-RRR并联机构虚拟样机设计与仿真[D].南京：南京理工大学,2005：6.
[47]汪劲松,朱煌.并联机床虚拟产品设计系统及基本框架研究[J].计算机集成制造系统-CIMS,2004(5)：57-62.
[48]郭旭伟,王知行.基于ADAMS的并联机床运动学和动力学仿真[J].中国制造业信息化,2003(7)：119-122.
[49]黄田等.虚拟环境下并联机床建模与仿真[J].制造技术与机床,2000(1)：19-20.
[50]彭力明.基于虚拟样机技术的虚拟轴机床机构分析研究[D].杭州：浙江大学,2004：2.