2-DOF并联行程放大机构结构参数优化
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摘要
为研制一种能实现快速行走、运动灵活性好的仿生四足机器人,对一种能够实现机构末端位置行程放大的2自由度并联机构进行运动性能分析与结构参数优化,并将优化结果应用到仿生四足机器人的腿部机构,研制出样机。首先,推导2自由度并联行程放大机构位置反解,建立机构的线速度雅克比矩阵,对机构的工作空间进行分析。其次,建立机构运动灵活性能评价指标,揭示主要结构参数对灵活性能指标的影响规律。然后,采用容限加权法确定一组合理的结构参数,使运动灵活性能指标达到最优。最后,根据优化的结构参数设计出仿生四足机器人腿部机构和整体的虚拟样机,并进行虚拟样机运动仿真。仿真结果表明:并联行程放大机构各驱动参数变化平稳,理论速度和仿真速度误差在±1.6×10~(-6)m/s范围内,验证仿生四足机器人腿部机构设计方案和结构参数的合理性及理论推导的正确性,为该仿生四足机器人的进一步研究奠定了基础。
The objective of this study was to develop a bionic quadruped robot that can realize fast walking and good mobility.Motion performance analysis and optimization of structural parameters for a 2-DOF parallel mechanism that can realize end-position travel amplification of the mechanism were conducted.Optimization results were then applied to the leg mechanism of a bionic quadruped robot,and a prototype was constructed.First,an inverse solution of the 2-DOF parallel travel amplification mechanism was deduced,the linear velocity Jacobian matrix of the mechanism was established,and the workspace of the mechanism was analyzed.Second,an evaluation index of the flexible performance of the mechanism was established to reveal the influence law of the main structural parameters on the flexible performance index.Then,a set of reasonable structural parameters was determined using the tolerance weighting method to optimize the performance of the kinematic flexibility.Finally,based on the optimized structural parameters,the bionic quadruped robot leg mechanism and a virtual prototype were designed.Motion simulation of the virtual prototype was then conducted.The simulation results show that the driving parameters of the parallel stroke amplification mechanism changed smoothly,and the theoretical and simulation speed errors are within the range of±1.6×10~(-6)m/s,which werified the rationality of the design scheme and the structural parameters of the bionic quadruped leg mechanism and the correctness of theoretical derivation.This study provides a foundation for further research on bionic quadruped robots.
The objective of this study was to develop a bionic quadruped robot that can realize fast walking and good mobility.Motion performance analysis and optimization of structural parameters for a 2-DOF parallel mechanism that can realize end-position travel amplification of the mechanism were conducted.Optimization results were then applied to the leg mechanism of a bionic quadruped robot,and a prototype was constructed.First,an inverse solution of the 2-DOF parallel travel amplification mechanism was deduced,the linear velocity Jacobian matrix of the mechanism was established,and the workspace of the mechanism was analyzed.Second,an evaluation index of the flexible performance of the mechanism was established to reveal the influence law of the main structural parameters on the flexible performance index.Then,a set of reasonable structural parameters was determined using the tolerance weighting method to optimize the performance of the kinematic flexibility.Finally,based on the optimized structural parameters,the bionic quadruped robot leg mechanism and a virtual prototype were designed.Motion simulation of the virtual prototype was then conducted.The simulation results show that the driving parameters of the parallel stroke amplification mechanism changed smoothly,and the theoretical and simulation speed errors are within the range of±1.6×10~(-6)m/s,which werified the rationality of the design scheme and the structural parameters of the bionic quadruped leg mechanism and the correctness of theoretical derivation.This study provides a foundation for further research on bionic quadruped robots.
引文
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[14]李研彪,刘毅,赵章风,等.基于空间模型技术的拟人机械腿的运动学传递性能分析[J].农业工程学报,2013,29(2):17-23.LI Y B,LIU Y,ZHAO ZH F,et al..Kinematics transmission analysis on anthropopathic mechanical leg based on spatial model technique[J].Transactions of the Chinese Society of Agricultural Engineering,2013,29(2):17-23.(in Chinese)
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[16]王洪波,齐政彦,胡正伟,等.并联腿机构在四足/两足可重组步行机器人中的应用[J].机械工程学报,2009,45(8):24-30.WANG H B,QI ZH Y,HU ZH W,et al..Application of parallel leg mechanisms in quadruped/biped reconfigurable walking robot[J].Journal of Mechanical Engineering,2009,45(8):24-30.(in Chinese)
[17]王洪波,徐桂玲,胡星,等.四足并联腿步行机器人动力学[J].机械工程学报,2012,48(23):76-82.WANG H B,XU G L,HU X,et al..Dynamics of quadruped walking robot with parallel leg mechanism[J].Journal of Mechanical Engineering,2012,48(23):76-82.(in Chinese)
[18]MIAO ZH H,YAO Y A,KONG X W.Biped walking robot based on a 2-UPU+2-UU parallel mechanism[J].Chinese Journal of Mechanical Engineering,2014,27(2):269-278.
[19]高建设,李明祥,侯伯杰,等.新型四足步行机器人串并混联腿的运动学分析[J].光学精密工程,2015,23(11):3147-3159.GAO J SH,LI M X,HOU B J,et al..Kinematics analysis on the serial-parallel leg of a novel quadruped walking robot[J].Opt.Precision Eng.,2012,7(20):1532-1541.(in Chinese)
[20]荣誉,曲梦可.基于变胞机构的性能可变机械臂研制[J].机械工程学报,2018,54(15):41-51,59.RONG Y,QU M K.Design of manipulator with variable performances based on metamorphic mechanism[J].Journal of Mechanical Engineering,2018,54(15):41-51,59.(in Chinese)
[21]张立杰,李永泉.球面2-DOF冗余驱动并联机器人机构误差分析[J].机械工程学报,2013,49(7):148-154.ZHANG L J,LI Y Q.Error analysis of spherical2-DOF parallel manipulator with actuation redundancy[J].Journal of Mechanical Engineering,2013,49(7):148-154.(in Chinese)
[22]崔冰艳,金振林.农业机器人新型肘关节的静力学性能分析[J].农业工程学报,2011,27(03):122-125.CUI B Y,JIN ZH L.Analysis of statics performance for a novel elbow joint of agricultural robot[J].Transactions of the Chinese Society of Agricultural Engineering,2011,27(3):122-125.(in Chinese)
[23]周玉林,李波,杨龙,等.二自由度球面并联机构U_(P+R)静力学分析[J].中国机械工程,2013,24(15):2081-2087.ZHOU Y L,LI B,Y L,et al..Statics analysis of a spherical parallel mechanism U_(P+R)with 2-DOF[J].China Mechanical Engineering,2013,24(15):2081-2087.(in Chinese)
[24]HUANG T,WHITEHOUSE D J,WAND J S.Local dexterity,optimum architecture and design criteria of parallel machine tools[J].Annals of the CIRP,1998,47(1):347-351.
[25]GOSSELIN C M,ANGELES J.A globe performance index for the kinematic optimization of robotic manipulators[J].ASME Journal of Mechanical Design,1991,113(3):220-226.
[26]ANGELES J,ROJAS A.Manipulator inverse kinematics via condition number minimization and continuation[J].International Journal of Robotics and Automation.1987,2(2):61-69.
[2]陈昊,郭为忠,高峰,等.步行机器人核电封头移动焊接控制任务建模与系统设计[J].机械设计与研究,2018,34(5):102-111.CHEN H,GUO W ZH,GAO F,et al..Legged mobile robot modeling and control system design based CRDM welding task[J].Machine Design and Research,2018,34(5):102-111.(in Chinese)
[3]施志祥,赵现朝,殷汇乐,等.并联六足飞机制孔机器人的位姿调节[J].机械设计与研究,2016,32(3):14-18.SHI ZH X,ZHAO X CH,YIN H L,et al..Research on pose adjustment of parallel hexappod robot for drilling on aircraft surface[J].Machine Design and Research,2016,32(3):14-18.(in Chinese)
[4]金振林,张金柱,高峰.一种消防六足机器人及其腿部机构运动学分析[J].中国机械工程,2016,27(7):865-871.JIN ZH L,ZHANG J ZH,GAO F.A firefighting six-legged robot and its kinematics analysis of leg mechanisms[J].Chinese Mechanical Engineering,2016,27(7):865-871.(in Chinese)
[5]张金柱,金振林,张哲.六足机器人整机运动学分析及构型选择[J].光学精密工程,2017,25(7):1832-1842.ZHANG J ZH,JIN ZH L,ZHANG ZH.Kinematics analysis and configuration selection of whole machine of hexapod robot[J].Opt.Precision Eng.,2017,25(7):1832-1842.(in Chinese)
[6]荣誉,金振林,曲梦可.六足步行机器人的并联机械腿设计[J].光学精密工程,2012,20(7):1532-1541.RONG Y,JIN ZH L,QU M K.Design of parallel mechanical leg of six-legged robot[J].Opt.Precision Eng.,2012,20(7):1532-1541.(in Chinese)
[7]荣誉,金振林.五自由度并联机械腿静力学性能评价与优化设计[J].光学精密工程,2012,20(6):1233-1242.RONG Y,JIN ZH L.Statics performance evaluating and optimal design of 5-DOF parallel mechanical leg[J].Opt.Precision Eng.,2012,20(6):1233-1242.(in Chinese)
[8]荣誉,金振林.3-DOF并联机械腿动力学建模与伺服电机峰值预估[J].光学精密工程,2012,20(9):1974-1983.RONG Y,JIN ZH L.Dynamic modeling and peak prediction of servo motor for 3-DOF parallel mechanical leg[J].Opt.Precision Eng.,2012,20(9):1974-1983.(in Chinese)
[9]李祺,马跃,黄田.一种并联动力头静柔度精确预估方法与灵敏度分析[J].机械工程学报,2016,52(11):1-10.LI Q,MA Y,HUANG T.Compliance evaluation and sensitivity analysis of a parallel spindle head[J].Journal of Mechanical Engineering,2016,52(11):1-10.(in Chinese)
[10]汪满新,刘海涛,黄田.3-SPR并联机构运动学性能评价[J].机械工程学报,2017,53(5):108-115.WANG M X,LIU H T,HUANG T.Kinematics performance evaluation of a 3-SPR parallel manipulator[J].Journal of Mechanical Engineering,2017,53(5):108-115.(in Chinese)
[11]齐明.一类2R1T三自由度并联机构的设计理论与方法研究[D].天津:天津大学,2007:54-95.QI M.Research on Design Theory and Methodology of a Class of 2R1T3-DOF Parallel Mechanisms[D].Tianjin:Tianjin University,2007:54-95.(in Chinese)
[12]李永刚,宋轶民,黄田,等.少自由度并联机器人机构静力分析[J].机械工程学报,2007,43(9):80-83.LI Y G,SONG Y M,HUANG T,et al..Static force analysis of lower-mobilty parallel manipulators[J].Journal of Mechanical Engineering,2007,43(9):80-83.(in Chinese)
[13]王友渔,赵兴玉,黄田,等.可重构混联机械手TriVariant与Tricept的静动态特性预估与比较[J].天津大学学报,2007,40(6):41-45.WANG Y Y,ZHAO X Y,H T,et al..Estimation and comparison of static and dynamic performance of two reconfigurable hybrid robots-the trivariant and the tricept[J].Journal of Tianjin University,2007,40(6):41-45.(in Chinese)
[14]李研彪,刘毅,赵章风,等.基于空间模型技术的拟人机械腿的运动学传递性能分析[J].农业工程学报,2013,29(2):17-23.LI Y B,LIU Y,ZHAO ZH F,et al..Kinematics transmission analysis on anthropopathic mechanical leg based on spatial model technique[J].Transactions of the Chinese Society of Agricultural Engineering,2013,29(2):17-23.(in Chinese)
[15]程刚.并联式仿生机械腿结构设计及动力学研究[D].北京:中国矿业大学,2008.CHEN G.Study on Structure Design and Dynamic Performance of the Parallel Bionic Robot Leg[D].Beijing:China University of Mining and Technology,2008.(in Chinese)
[16]王洪波,齐政彦,胡正伟,等.并联腿机构在四足/两足可重组步行机器人中的应用[J].机械工程学报,2009,45(8):24-30.WANG H B,QI ZH Y,HU ZH W,et al..Application of parallel leg mechanisms in quadruped/biped reconfigurable walking robot[J].Journal of Mechanical Engineering,2009,45(8):24-30.(in Chinese)
[17]王洪波,徐桂玲,胡星,等.四足并联腿步行机器人动力学[J].机械工程学报,2012,48(23):76-82.WANG H B,XU G L,HU X,et al..Dynamics of quadruped walking robot with parallel leg mechanism[J].Journal of Mechanical Engineering,2012,48(23):76-82.(in Chinese)
[18]MIAO ZH H,YAO Y A,KONG X W.Biped walking robot based on a 2-UPU+2-UU parallel mechanism[J].Chinese Journal of Mechanical Engineering,2014,27(2):269-278.
[19]高建设,李明祥,侯伯杰,等.新型四足步行机器人串并混联腿的运动学分析[J].光学精密工程,2015,23(11):3147-3159.GAO J SH,LI M X,HOU B J,et al..Kinematics analysis on the serial-parallel leg of a novel quadruped walking robot[J].Opt.Precision Eng.,2012,7(20):1532-1541.(in Chinese)
[20]荣誉,曲梦可.基于变胞机构的性能可变机械臂研制[J].机械工程学报,2018,54(15):41-51,59.RONG Y,QU M K.Design of manipulator with variable performances based on metamorphic mechanism[J].Journal of Mechanical Engineering,2018,54(15):41-51,59.(in Chinese)
[21]张立杰,李永泉.球面2-DOF冗余驱动并联机器人机构误差分析[J].机械工程学报,2013,49(7):148-154.ZHANG L J,LI Y Q.Error analysis of spherical2-DOF parallel manipulator with actuation redundancy[J].Journal of Mechanical Engineering,2013,49(7):148-154.(in Chinese)
[22]崔冰艳,金振林.农业机器人新型肘关节的静力学性能分析[J].农业工程学报,2011,27(03):122-125.CUI B Y,JIN ZH L.Analysis of statics performance for a novel elbow joint of agricultural robot[J].Transactions of the Chinese Society of Agricultural Engineering,2011,27(3):122-125.(in Chinese)
[23]周玉林,李波,杨龙,等.二自由度球面并联机构U_(P+R)静力学分析[J].中国机械工程,2013,24(15):2081-2087.ZHOU Y L,LI B,Y L,et al..Statics analysis of a spherical parallel mechanism U_(P+R)with 2-DOF[J].China Mechanical Engineering,2013,24(15):2081-2087.(in Chinese)
[24]HUANG T,WHITEHOUSE D J,WAND J S.Local dexterity,optimum architecture and design criteria of parallel machine tools[J].Annals of the CIRP,1998,47(1):347-351.
[25]GOSSELIN C M,ANGELES J.A globe performance index for the kinematic optimization of robotic manipulators[J].ASME Journal of Mechanical Design,1991,113(3):220-226.
[26]ANGELES J,ROJAS A.Manipulator inverse kinematics via condition number minimization and continuation[J].International Journal of Robotics and Automation.1987,2(2):61-69.