低耦合度且部分解耦的3T1R并联机构设计与分析
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摘要
三平移一转动(3T1R)并联机构具有拓扑结构复杂、耦合度高、输入-输出运动不解耦,且易出现奇异位置等问题。根据基于方位特征(Position and orientation characteristic,POC)方程的并联机构拓扑设计理论和和冗余支链消除奇异位置原理,首先,提出了一种含冗余支链的低耦合度、运动解耦、大转动能力的3T1R并联操作手新机构;其次,对其进行拓扑结构分析,主要包括POC集、自由度、耦合度以及运动解耦性分析;再次,建立了基于序单开链法运动学建模原理的位置正解求解模型,并应用一维搜素方法求解了该并联机构的位置正解;基于导出的机构位置逆解,分析了机构的工作空间、转动能力及奇异性条件;阐明了冗余支链可避免奇异位置,并能增加机构刚度;最后,给出了机构动平台的速度、加速度变化规律。本文为该操作手的机械设计、动力学分析、样机研制奠定了理论基础。
The four degrees of freedom( DOF) SCARA parallel mechanism( PM) is widely used in industrial manufacturing since it has three translations and one rotation( 3 T1 R) pose positioning function. In general,this kind of PM features complex structures,high coupling degree,no input-output motion decoupling and singularity etc. Firstly,according to the topological design theory of PM based on the position and orientation characteristic( POC) equations and principle of avoiding singularity by using redundant actuation limb,a new and symmetrical 3 T1 R partially decoupled PM with low coupling degreeκ and a redundant actuation was proposed. Then the topological characteristic analysis of the PM was performed,including POC set,DOF,coupling degree and motion decoupling performance. Afterward,according to the kinematics modeling principle based on ordered single opened chain( SOC),the solution model of direct kinematics was established,and the position solutions of the PM were solved by using one-dimensional search method. Then,the workspace and rotational ability of the PM were analyzed based on the inverse position solutions derived. At the same time,the geometric conditions of three kinds of singular positions were also derived and the principle of avoiding the singular position using redundant driving chain was explained. Meanwhile,the velocity and acceleration curve of the base point of moving platform of PM was simulated based on the derived formula. The research result laid a theoretical foundation for the mechanical design,prototype implement and application of the manipulator.
The four degrees of freedom( DOF) SCARA parallel mechanism( PM) is widely used in industrial manufacturing since it has three translations and one rotation( 3 T1 R) pose positioning function. In general,this kind of PM features complex structures,high coupling degree,no input-output motion decoupling and singularity etc. Firstly,according to the topological design theory of PM based on the position and orientation characteristic( POC) equations and principle of avoiding singularity by using redundant actuation limb,a new and symmetrical 3 T1 R partially decoupled PM with low coupling degreeκ and a redundant actuation was proposed. Then the topological characteristic analysis of the PM was performed,including POC set,DOF,coupling degree and motion decoupling performance. Afterward,according to the kinematics modeling principle based on ordered single opened chain( SOC),the solution model of direct kinematics was established,and the position solutions of the PM were solved by using one-dimensional search method. Then,the workspace and rotational ability of the PM were analyzed based on the inverse position solutions derived. At the same time,the geometric conditions of three kinds of singular positions were also derived and the principle of avoiding the singular position using redundant driving chain was explained. Meanwhile,the velocity and acceleration curve of the base point of moving platform of PM was simulated based on the derived formula. The research result laid a theoretical foundation for the mechanical design,prototype implement and application of the manipulator.
引文
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[11] XIE Fugui,LIU Xinjun. Design and development of a high-speed and high-rotation robot with four identical arms and a singleplatform[J]. Journal of Mechanisms&Robotics,2015,7(4):041015-3.
[12]朱小蓉,宋月月,孙晨,等. 2RRUR-2RSS并联机构结构特性与运动学分析[J/OL].农业机械学报,2016,47(12):408-415.ZHU Xiaorong,SONG Yueyue,SUN Chen,et al. Structural characteristics and kinematic analysis for novel 2RRUR-2RSSparallel mechanism[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2016,47(12):408-415. http:∥www. j-csam. org/jcsam/ch/reader/view-abstract. aspx? flag=1&file-no=20161252&journal-id=jcsam. DOI:10. 6041/j.issn. 1000-1298. 2016. 12. 052.(in Chinese)
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[14]石志新,叶梅燕,罗玉峰,等.四自由度两模式并联机构结构综合与位置分析[J/OL].农业机械学报,2017,48(4):383-389.SHI Zhixin,YE Meiyan,LUO Yufeng,et al. Type synthesis and position analysis of 4-DOF parallel mechanisms with twooperation modes[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2017,48(4):383-389. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20170451&journal_id=jcsam. DOI:10. 6041/j.issn. 1000-1298. 2017. 04. 051.(in Chinese)
[15] YANG Tingli,LIU Anxin,SHEN Huiping,et al. Topology design of robot mechanisms[M]. Springer,2018.
[16]沈惠平,许可,杨廷力.运动解耦和低耦合度选择顺应性装配机器手臂并联机构的设计及其运动分析[J].中国机械工程,2018,29(8):883-892.SHEN Huiping,XU Ke,YANG Tingli. Design and kinematics of a SCARA parallel mechanism with motion decoupling and lowcoupling degree[J]. China Mechanical Engineering,2018,29(8):883-892.(in Chinese)
[17]杨廷力.机器人机构拓扑结构学[M].北京:机械工业出版社,2004.
[18]杨廷力,刘安心,罗玉峰,等.机器人机构拓扑结构设计[M].北京:科学出版社,2012.
[19]沈惠平,尹洪波,王振,等.基于拓扑结构分析的求解6-SPS并联机构位置正解的研究[J].机械工程学报,2013,49(21):70-80.SHEN Huiping,YIN Hongbo,WANG Zhen,et al. Research on forward position solutions for 6-SPS parallel mechanisms basedon topology structure analysis[J]. Journal of Mechanical Engineering,2013,49(21):70-80.(in Chinese)
[20]白志富,韩先国,陈五一.冗余驱动消除并联机构奇异研究[J].航空学报,2006,27(4):733-736.BAI Zhifu,HAN Xianguo,CHEN Wuyi. Study on elimination singularities of parallel mechanism by actuation redundancy[J].Acta Aeronautica et Astronautica Sinica,2006,27(4):733-736.(in Chinese)
[21]张彦斐,宫金良,高峰.冗余驱动消除并联机构位形奇异原理[J].中国机械工程,2006,17(5):445-448.ZHANG Yanfei,GONG Jinliang,GAO Feng. Theory of singularity elimination by redundant actuation for parallel mechanism[J]. China Mechanical Engineering,2006,17(5):445-448.(in Chinese)
[2] KRUT S,COMPANY O,BENOIT M,et al. I4:a new parallel mechanism for Scara motions[C]∥IEEE InternationalConference on Robotics and Automation,2003:1875-1880.
[3] LUC R. The Manta and the Kanuk:novel 4-DOF parallel mechanisms for industrial handling[C]∥ASME Dynamic Systems andControl Division,IMECE’99 Conference,1999:831-844.
[4]金琼,杨廷力,刘安心,等.基于单开链单元的三平移一转动并联机器人机构型综合及机构分类[J].中国机械工程,2001,12(9):1038-1043.JIN Qiong,YANG Tingli,LIU Anxin,et al. Structural synthesis and classification of the four-dof parallel robot mechanismsbased on the units of single-opened-chain[J]. China Mechanical Engineering,2001,12(9):1038-1043.(in Chinese)
[5] BRIOT S,BONEV I A. Pantopteron-4:a new 3T1R decoupled parallel manipulator for pick-and-place applications[J].Mechanism and Machine Theory,2010,45(5):707-721.
[6] CORBEL D,GOUTTEFARDE M,COMPANY O,et. al. Actuation redundancy as a way to improve the acceleration capabilitiesof 3T and 3T1R pick-and-place parallel manipulators[J]. ASME Journal of Mechanisms and Robotics,2010,2(4):041002-041002-13.
[7] AMINE S,MASOULEH M T,CARO S,et al. Singularity conditions of 3T1R parallel manipulators with identical limb structure[J]. ASME Journal of Mechanisms and Robotics,2012,4(1):49-75.
[8]黄田,赵学满,梅江平,等.一种具有三维平动一维转动的并联机构:中国,202528189U[P]. 2012-11-14.
[9]刘辛军,谢福贵,王立平,等.一种可实现SCARA运动的四自由度单动平台并联机构:中国,201210435375. 1[P].2013-02-13.
[10] LI Zhibin,LOU Yunjiang,LI Zexiang,et al. Type synthesis,kinematic analysis,and optimal design of a novel class of Schnflies-motion parallel manipulators[J]. IEEE Transactions on Automation Science&Engineering,2013,10(3):674-686.
[11] XIE Fugui,LIU Xinjun. Design and development of a high-speed and high-rotation robot with four identical arms and a singleplatform[J]. Journal of Mechanisms&Robotics,2015,7(4):041015-3.
[12]朱小蓉,宋月月,孙晨,等. 2RRUR-2RSS并联机构结构特性与运动学分析[J/OL].农业机械学报,2016,47(12):408-415.ZHU Xiaorong,SONG Yueyue,SUN Chen,et al. Structural characteristics and kinematic analysis for novel 2RRUR-2RSSparallel mechanism[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2016,47(12):408-415. http:∥www. j-csam. org/jcsam/ch/reader/view-abstract. aspx? flag=1&file-no=20161252&journal-id=jcsam. DOI:10. 6041/j.issn. 1000-1298. 2016. 12. 052.(in Chinese)
[13]杨桂林,吴存存,陈庆盈,等. 3T1R并联机构运动学分析与优化设计[J/OL].农业机械学报,2017,48(12):386-394,420.YANG Guilin,WU Cuncun,CHEN Chinyin,et al. Kinematics analysis and design optimization of novel 3T1R parallelmanipulator[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2017,48(12):386-394,420. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20171248&journal_id=jcsam. DOI:10. 6041/j.issn. 1000-1298. 2017. 12. 048.(in Chinese)
[14]石志新,叶梅燕,罗玉峰,等.四自由度两模式并联机构结构综合与位置分析[J/OL].农业机械学报,2017,48(4):383-389.SHI Zhixin,YE Meiyan,LUO Yufeng,et al. Type synthesis and position analysis of 4-DOF parallel mechanisms with twooperation modes[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2017,48(4):383-389. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20170451&journal_id=jcsam. DOI:10. 6041/j.issn. 1000-1298. 2017. 04. 051.(in Chinese)
[15] YANG Tingli,LIU Anxin,SHEN Huiping,et al. Topology design of robot mechanisms[M]. Springer,2018.
[16]沈惠平,许可,杨廷力.运动解耦和低耦合度选择顺应性装配机器手臂并联机构的设计及其运动分析[J].中国机械工程,2018,29(8):883-892.SHEN Huiping,XU Ke,YANG Tingli. Design and kinematics of a SCARA parallel mechanism with motion decoupling and lowcoupling degree[J]. China Mechanical Engineering,2018,29(8):883-892.(in Chinese)
[17]杨廷力.机器人机构拓扑结构学[M].北京:机械工业出版社,2004.
[18]杨廷力,刘安心,罗玉峰,等.机器人机构拓扑结构设计[M].北京:科学出版社,2012.
[19]沈惠平,尹洪波,王振,等.基于拓扑结构分析的求解6-SPS并联机构位置正解的研究[J].机械工程学报,2013,49(21):70-80.SHEN Huiping,YIN Hongbo,WANG Zhen,et al. Research on forward position solutions for 6-SPS parallel mechanisms basedon topology structure analysis[J]. Journal of Mechanical Engineering,2013,49(21):70-80.(in Chinese)
[20]白志富,韩先国,陈五一.冗余驱动消除并联机构奇异研究[J].航空学报,2006,27(4):733-736.BAI Zhifu,HAN Xianguo,CHEN Wuyi. Study on elimination singularities of parallel mechanism by actuation redundancy[J].Acta Aeronautica et Astronautica Sinica,2006,27(4):733-736.(in Chinese)
[21]张彦斐,宫金良,高峰.冗余驱动消除并联机构位形奇异原理[J].中国机械工程,2006,17(5):445-448.ZHANG Yanfei,GONG Jinliang,GAO Feng. Theory of singularity elimination by redundant actuation for parallel mechanism[J]. China Mechanical Engineering,2006,17(5):445-448.(in Chinese)