对称3T1R并联机构构型设计与位置分析
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摘要
基于螺旋理论,深入研究了一种适用于轻小物料高速操作的3T1R运动机构—全对称4-URU并联机构。首先应用螺旋理论对能实现3T1R运动的全对称并联机构进行型综合,列举出了支链中仅含R副的3T1R机构,考虑机构的结构复杂度、工作空间和力/运动传递性能,优选出了一种综合性能较好的4-URU并联机构,验证了优选机构的自由度特征,建立了位置正逆解数学模型,搜索求解了工作空间,结果表明该机构工作空间体积较大,各向同性度较好。
Based on the screw theory, a fully symmetric 4-URU parallel mechanism with 3 T1 R motion is studied. In this paper, first of all, the screw theory is applied to synthesize all symmetric parallel mechanisms that can realize 3 T1 R motion, and the 3 T1 R mechanisms with only R pairs in the branch chains are enumerated, considering the bearing capacity, workspace and isotropic performance of the mechanism, a 4-URU parallel mechanism with better comprehensive performance is selected, then the degrees of freedom of the mechanism is verified, the forward and inverse solution mathematical model is established, and the workspace of the mechanism is solved by searching.The results show that the workspace of the mechanism is large and isotropy is good.
Based on the screw theory, a fully symmetric 4-URU parallel mechanism with 3 T1 R motion is studied. In this paper, first of all, the screw theory is applied to synthesize all symmetric parallel mechanisms that can realize 3 T1 R motion, and the 3 T1 R mechanisms with only R pairs in the branch chains are enumerated, considering the bearing capacity, workspace and isotropic performance of the mechanism, a 4-URU parallel mechanism with better comprehensive performance is selected, then the degrees of freedom of the mechanism is verified, the forward and inverse solution mathematical model is established, and the workspace of the mechanism is solved by searching.The results show that the workspace of the mechanism is large and isotropy is good.
引文
[1]孔宪文,戈斯林.并联机构构型综合[M].北京:机械工业出版社,2013.
[2]杨桂林.3T1R并联机构运动学分析与优化设计[J].农业机械学报,2017,48(12):386-394.
[3]黄真,赵永生,赵铁石.高等空间机构学[M].北京:高等教育出版社,2014.
[4]陈海,秦友蕾,曹毅.基于螺旋理论的3T1R完全解耦并联机构型综合[J].中国机械工程,2015,26(24):3282-3288.
[5]TU Y K,CHEN Q H,LI Q H.Kinematics,singularity,and optimal design of a novel 3T1R parallel manipulator with full rotational capability[J].Journal of Mechanical Science and Technology,2018,32(6):2877-2887.
[6]贺磊盈,涂叶凯,李秦川.一种可整周回转的新型3T1R并联机构运动学分析[J].机械工程学报,2018,54(11):151-160.
[7]沈惠平,张震,杨廷力.3T1R并联机构结构降耦设计与运动学分析[J].农业机械学报,2017,48(10):380-389.
[8]沈惠平,许可,杨廷力.一种非全对称低耦合度三平移一转动并联机构的设计及其运动学[J].中国机械工程,2018,29(2):166-176.
[9]LI S H,LIU Y M.Synthesis of branched chains with actuation redundancy for eliminating interior singularities of 3T1R parallel mechanisms[J].Chinese Journal of Mechanical Engineering,2016,29(2):250-259.
[10]刘艳敏,李仕华.基于灵巧性的3T1R冗余驱动并联机构输入优选[J].中国科技论文,2016,22:2531-2536.
[11]AMINE S,MOKHIAMAR O.Classification of 3T1R parallel manipulators based on their wrench graph[J].Journal of Mechanisms and Robotics,2016,9(1):011003.
[12]AMINE S,GOSSELIN C M.Singularity conditions of 3T1R parallel manipulators with identical limb structures[J].Mechanisms Robotics,2012,4(1):011011-011021.
[13]RICHARD P L,GOSSELIN C M,KONG X W.Kinematic analysis and prototyping of a partially decoupled 4-DOF 3T1R parallel manipulator[J].Journal of Mechanical Design,2007,129(6):611-616.
[14]孙立宁,于凌涛,杜志江.并联机器人胡克铰工作空间的研究与应用[J].机械工程学报,2006(8):120-124.
[15]刘文彩,许勇,陈佳丽.基于6-SPU并联机构的飞机壁板铆接机器人逆运动学分析[J].机械设计与研究,2018,34(2):76-80.
[16]夏永强,罗玉峰,石志新,等.3T1R并联机构的工作空间与参数优化[J].机械设计与研究,2017,33(6):10-14.
[2]杨桂林.3T1R并联机构运动学分析与优化设计[J].农业机械学报,2017,48(12):386-394.
[3]黄真,赵永生,赵铁石.高等空间机构学[M].北京:高等教育出版社,2014.
[4]陈海,秦友蕾,曹毅.基于螺旋理论的3T1R完全解耦并联机构型综合[J].中国机械工程,2015,26(24):3282-3288.
[5]TU Y K,CHEN Q H,LI Q H.Kinematics,singularity,and optimal design of a novel 3T1R parallel manipulator with full rotational capability[J].Journal of Mechanical Science and Technology,2018,32(6):2877-2887.
[6]贺磊盈,涂叶凯,李秦川.一种可整周回转的新型3T1R并联机构运动学分析[J].机械工程学报,2018,54(11):151-160.
[7]沈惠平,张震,杨廷力.3T1R并联机构结构降耦设计与运动学分析[J].农业机械学报,2017,48(10):380-389.
[8]沈惠平,许可,杨廷力.一种非全对称低耦合度三平移一转动并联机构的设计及其运动学[J].中国机械工程,2018,29(2):166-176.
[9]LI S H,LIU Y M.Synthesis of branched chains with actuation redundancy for eliminating interior singularities of 3T1R parallel mechanisms[J].Chinese Journal of Mechanical Engineering,2016,29(2):250-259.
[10]刘艳敏,李仕华.基于灵巧性的3T1R冗余驱动并联机构输入优选[J].中国科技论文,2016,22:2531-2536.
[11]AMINE S,MOKHIAMAR O.Classification of 3T1R parallel manipulators based on their wrench graph[J].Journal of Mechanisms and Robotics,2016,9(1):011003.
[12]AMINE S,GOSSELIN C M.Singularity conditions of 3T1R parallel manipulators with identical limb structures[J].Mechanisms Robotics,2012,4(1):011011-011021.
[13]RICHARD P L,GOSSELIN C M,KONG X W.Kinematic analysis and prototyping of a partially decoupled 4-DOF 3T1R parallel manipulator[J].Journal of Mechanical Design,2007,129(6):611-616.
[14]孙立宁,于凌涛,杜志江.并联机器人胡克铰工作空间的研究与应用[J].机械工程学报,2006(8):120-124.
[15]刘文彩,许勇,陈佳丽.基于6-SPU并联机构的飞机壁板铆接机器人逆运动学分析[J].机械设计与研究,2018,34(2):76-80.
[16]夏永强,罗玉峰,石志新,等.3T1R并联机构的工作空间与参数优化[J].机械设计与研究,2017,33(6):10-14.