双支链六自由度并联机构尺度设计与性能分析

doi:10.3969/j.issn.1004-132X.2022.14.006

中国机械工程 ›› 2022, Vol. 33 ›› Issue (14): 1680-1690.DOI: 10.3969/j.issn.1004-132X.2022.14.006

双支链六自由度并联机构尺度设计与性能分析

谢志江1;程清1;丁军2;何苗2;范乃吉3;吴小勇2

1.重庆大学机械传动国家重点实验室，重庆，400044
2.重庆理工大学机械工程学院，重庆，400054
3.中国工程物理研究院激光聚变研究中心，绵阳，621900

出版日期:2022-07-25 发布日期:2022-08-02
通讯作者: 吴小勇（通信作者），男，1990年生，博士、讲师。研究方向为串/并联机器人、机电一体化、机器人机构学、智能特种设备。E-mail:wuxycqu@163.com。
作者简介:谢志江，男，1962年生，教授、博士研究生导师。研究方向为机械创新设计和并联机器人研究。E-mail:xie@cqu.edu.cn。
基金资助:
重庆市自然科学基金(cstc2020jcyj-msxmX0281)；重庆市教委科学技术研究项目(KJCX2020044,KJQN202101114,HZ2021011)；重庆市高校创新研究群体项目 (CXQT19026)

Dimensional Design and Performance Analysis of a 6-DOF Parallel Manipulator with Two Limbs

XIE Zhijiang1;CHENG Qing1;DING Jun2;HE Miao2;FAN Naiji3;WU Xiaoyong2

1.State Key Laboratory of Mechanical Transmission,Chongqing University,Chongqing,400044
2.School of Mechanical Engineering,Chongqing University of Technology,Chongqing,400054
3.Research Center of Laser Fusion, China Academy of Engineering Physics,Mianyang,Sichuan,621900

Online:2022-07-25 Published:2022-08-02

摘要/Abstract

摘要： 提出了一种新型六自由度并联机构，该机构由两条运动支链组成，每条支链各包含一个主动球副。与常规六自由度并联机构相比，支链数目的减少可有效增大机构工作空间。基于封闭矢量法求得所提机构的运动学位置逆解，在此基础上分析了机构输入与输出的速度映射关系，建立了机构雅可比矩阵。以工作空间和全域灵巧度为性能评价指标，借助性能图谱法完成了机构尺度设计，基于该尺度参数，对特定工作姿态下的工作空间、灵巧度、承载性能及刚度性能进行了全面研究。最后，搭建了3D打印样机，并对其典型应用场景进行了分析。

关键词: 并联机构, 位置逆解, 尺度设计, 工作空间, 性能分析

Abstract: A novel 6-DOF parallel manipulator was proposed. The manipulator was composed of two kinematic subchains, each subchain contained an active spherical joint. Compared with the conventional 6-DOF parallel manipulators, the reduction of subchains might increase the workspace of manipulator. The closed-loop vector method was presented to determine the inverse position of the proposed manipulator. Then, the velocity mapping relation between the input and output of the manipulator was analyzed and the Jacobian matrix was established. The workspace and global conditioning index were used as performance evaluation indexes, and the dimensional design of the proposed manipulator was completed with the performance atlas method. Based on the dimension parameters, the workspace, dexterity, load capacity and stiffness capacity were comprehensively analyzed under certain posture. Finally, a 3D printing prototype was built, and the practical applications were illustrated.

Key words: , parallel manipulator, inverse position, dimensional design, workspace, performance analysis

中图分类号:

TH112

谢志江, 程清, 丁军, 何苗, 范乃吉, 吴小勇. 双支链六自由度并联机构尺度设计与性能分析[J]. 中国机械工程, 2022, 33(14): 1680-1690.

XIE Zhijiang, CHENG Qing, DING Jun, HE Miao, FAN Naiji, WU Xiaoyong. Dimensional Design and Performance Analysis of a 6-DOF Parallel Manipulator with Two Limbs[J]. China Mechanical Engineering, 2022, 33(14): 1680-1690.

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双支链六自由度并联机构尺度设计与性能分析

Dimensional Design and Performance Analysis of a 6-DOF Parallel Manipulator with Two Limbs

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