摘要
针对现代装备的高性能要求,本文提出利用冗余驱动并联机构来提升技术装备的整体驱动能力和提高机构的容错性能,并系统研究驱动冗余并联机构的构型综合理论。
提出了一种系统综合冗余驱动并联机构的方法。选择单环机构或者多环机构作为机构的支链驱动单元,将机构可能的约束耦合在支链单元内完成,从而获得非过约束的或者低次过约束的冗余驱动并联机构。基于上述的构型方法,对具有三转动、三移动、两转动一移动、两移动一转动和四、五自由度运动的冗余驱动并联机构进行了构型综合,得到了系列构型。
基于独立参数的设计需求,给出了冗余驱动并联机构的一般演化过程。不考虑机构末端动平台的自由度形式,空间刚体的位置和姿态可以由选定的与刚体固联的不共线三点决定。选定与动平台固联点的实现形式：空间点、平面点和直线点,通过单环或者多环机构实现固联点的运动,即可得到冗余驱动并联机构的系列构型。
通过添加冗余驱动支链的方式,对机构可能出现的伴随运动进行了消除。针对典型的3-UPU并联机构总是存在非期望转动这一情况,进行了分析评估和规避研究。考虑约束误差对伴随转动的影响,约束螺旋与伴随转动之间的互易积将不再等于零,即：约束螺旋对伴随转动存在做功现象。基于此,得到了伴随转动自由度运动的范数表达,并以此作为衡量指标检验了误差约束对非期望转动的影响幅度。最后,提出了通过添加冗余驱动支链的方法,对机构可能出现的伴随运动进行消除。
提出了一种新型4-UPU冗余驱动并联机构。该机构以2-UPU单环机构作为基础构型单元,消除了UPU类并联机构可能存在的伴随运动。此冗余驱动并联机构具有简单的正运动学求解,并且只有一种可以完全规避的结构奇异。当某一个驱动支链出现故障锁住时,机构动平台依然能够实现部分的空间移动运动,通过求解得到机构的容错工作空间。
ABSTRACT:For the modernized requirements of major technical equipment, the redundantly actuated parallel mechanism is proposed to improve the wrench capabilities and fault tolerance.
A systematic method is proposed for the type synthesis of redundantly actuated parallel mechanism in this thesis. By using the single loop or the multi-loop mechanism as the actuated unit, the possible constraints coupling can be performed in limb unit, and thereby the non-over constrained or the lower order over constrained redundantly actuated parallel mechanisms can be constructed. Based on the above synthesis method, the redundantly actuated parallel mechanisms with three rotational (3R), three translational (3T),2R1T,2T1R,4and5degrees of freedom (DOF) motions are synthesized.
Based on the requirements of independent design parameters, the general evolutionary process of redundantly actuated parallel mechanism is presented. Without taking the DOF types into consideration, the position and orientation of a rigid body can be determined by three non-collinear points attached to the rigid body. After the forms of three non-collinear points are determined, the point in space, in planar or in line, which are realized by single loop mechanism or multi-loop mechanism, series of redundantly actuated parallel mechanisms can be obtained.
The possible parasitic motions can be eliminated by adding proper redundantly actuated limbs. The typical3-UPU parallel mechanism is chosen as an example to perform the parasitic rotation evaluation and avoidance. Due to the effect of constraint errors, the reciprocal product of constraint wrenches and parasitic motions will not be zero in practice, namely the constraint wrenches act on the moving platform in such a way that it produce works while the moving platform is undergoing the parasitic motions. The norm expression of parasitic motion is obtained, which can be used to perform the evaluation of parasitic motion under the constraint errors. Finally, the redundantly actuated limb is used to eliminate the possible parasitic motions.
A novel4-UPU redundantly actuated parallel mechanism with three translations is proposed. The2-UPU single loop mechanism is used as the basic configurational unit to avoid the possible parasitic motion of UPU type parallel mechanism. The forward kinematic of this4-UPU redundantly actuated parallel mechanism is very easy and there is only one structural singular configuration, which can be avoid completely. When there occurs failure of an active joint in one limb and the active joint is locked, the4-UPU parallel mechanism still possesses some spatial translations, and the fault-tolerant workspace is obtained.
引文
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