运动解耦且正解符号化的8R两平移空间并联机构的设计与性能分析

doi:10.3969/j.issn.1004-132X.2023.12.005

摘要/Abstract

摘要： 提出了机构1、机构2两个新型8R两平移空间并联机构，并对两个并联机构自由度进行了分析计算；推导出了两个机构的符号式位置正解和反解，并基于符号正解对两个机构的工作空间进行了分析；对这两个机构分别进行了刚度建模与动力学建模，分析了两个机构的刚度性能，并求得相同负载下两个机构的驱动力矩；最后对两个机构进行运动学、刚度和动力学性能对比，结果表明机构2为优选机型。

关键词: 并联机构, 方位特征方程, 运动学, 刚度, 逆动力学

Abstract: Two new 8R two-translational(2T) spatial PMs(PM 1 and PM 2) were proposed, and their degree of freedoms(DOF) were analyzed and calculated. The forward and inverse solutions of the symbolic positions of the two PMs were derived, and the workspace of the two PMs was analyzed based on the symbolic forward solution. The stiffness and dynamics of the two PMs were modeled respectively, the stiffness performance of the two PMs was analyzed, and the driving torque of the two PMs under the same load was obtained. Finally, the kinematics, stiffness and dynamic properties of the two PMs were compared, which shows that PM 2 is the preferred model.

Key words: parallel mechanism(PM), position and orientation characteristic equation, kinematics, stiffness, inverse dynamics

中图分类号:

TH112

杜中秋, 沈惠平, 孟庆梅, 李涛, 杨廷力. 运动解耦且正解符号化的8R两平移空间并联机构的设计与性能分析[J]. 中国机械工程, 2023, 34(12): 1425-1435.

DU Zhongqiu, SHEN Huiping, MENG Qingmei, LI Tao, YANG Tingli. Design and Performance Analysis of 8R Two-translational Spatial Parallel Mechanism with Motion Decoupling and Symbolic Positive Solutions[J]. China Mechanical Engineering, 2023, 34(12): 1425-1435.

参考文献

［1］梅莱J P.并联机器人［M］.黄远灿,译.北京：机械工业出版社，2016.
ML J P. Paralled Robots［M］. HUANG Yuancan, trans. Beijing:China Machine Press, 2016.
［2］杨廷力,刘安心,沈惠平,等.机器人机构拓扑结构设计［M］.北京:科学出版社,2012.
YANG Tingli, LIU Anxin, SHEN Huiping, et al. Theory and Application of Robot Mechanism Topo-logy［M］. Beijing:Science Press, 2012.
［3］刘辛军.并联机器人机构学基础［M］. 北京：高等教育出版社,2018．
LIU Xinjun. Fundamental of Parallel Robotic Mechanisms［M］. Beijing:Higher Education Press, 2018.
［4］GAO F, LIU X, GRUVER W A. Performance Evaluation of Two-degree-of-freedom Planar Parallel Robots［J］. Mechanism and Machine Theory,1997,33(6):661-668.
［5］LIU X, WANG J, PRITSCHOW G. Kinematics, Singularity and Workspace of Planar 5R Symmetrical Parallel Mechanisms［J］. Mechanism and Machine Theory,2005,41(2):145-169.
［6］LARA-MOLINA F A, KOROISHI E H, STEFFEN V, et al. Kinematic Performance of Planar 5R Symmetrical Parallel Mechanism Subjected to Clearances and Uncertainties［J］. Journal of the Brazilian Society of Mechanical Sciences and Engineering,2018,40(4):1-15.
［7］LIU Xinjun, WANG Qiming, WANG Jinsong. Kinematics, Dynamics and Dimensional Synthesis of a Novel 2-DOF Translational Manipulator［J］. Journal of Intelligent and Robotic Systems,2004,41(4):205-224.
［8］HUANG Tian, LI Zhanxian, LI Meng, et al. Conceptual Design and Dimensional Synthesis of a Novel 2-DOF Translational Parallel Robot for Pick-and-Place Operations［J］. Journal of Mechanical Design,2004,126(3):449-455.
［9］沈惠平,吉昊,许正骁,等.三平移机构设计与运动学符号解及性能评价［J］.农业机械学报,2020,51(9):397-407.
SHEN Huiping, JI Hao, XU Zhengxiao, et al. Design, Kinematic Symbolic Solution and Performance Evaluation of New Three Translation Mechanism［J］.Transactions of the Chinese Society for Agricultural Machinery, 2020,51（9):397-407.
［10］沈惠平,顾晓阳,李菊,等.基于拓扑降耦的3T1R并联机构设计与运动学特性分析［J］.农业机械学报,2021,52(8):406-415.
SHEN Huiping, GU Xiaoyang, LI Ju, et al. Topological Coupling-reducing Based Design of 3T1R Parallel Mechanism and Kinematics Performances Analysis［J］. Transactions of the Chinese Society for Agricultural Machinery, 2021,52（8):406-415.
［11］CHEN C, ANGELES J. Generalized Transmission Index and Transmission Quality for Spatial Link-ages［J］. Mechanism and Machine Theory,2006,42(9):1225-1237.
［12］彭斌彬,肖杰,陈小岗,等.新型2自由度并联平动机构构型及运动性能［J］.机械设计与研究,2010,26(1):36-39.
PENG Binbin, XIAO Jie, CHEN Xiaogang, et al. Synthesis and Kinematics Performance of a Novel 2-DOF Parallel Translating Mechanism［J］. Mechanical Design and Research, 2010,26（1):36-39.
［13］沈惠平,许正骁,许可,等.零耦合度且部分解耦的3T1R并联机构设计与运动分析［J］.农业机械学报，2019,50（4）：382-392.
SHEN Huiping, XU Zhengxiao, XU Ke, et al. Design and Kinematic Analysis of Zero Coupling and Partially Decoupled 3T1R Parallel Mechanism［J］.Transactions of the Chinese Society for Agricultural Machinery, 2019,50（4):382-392.
［14］SHEN H P, TANG Y, WU G L,et al. Design and Analysis of a Class of Two-limb Non-parasitic 2T1R Parallel Mechanism with Decoupled Motion and Symbolic forward Position Solution-influence of Optimal Arrangement of Limbs onto the Kinematics, Dynamics and Stiffness［J］. Mechanism and Machine Theory,2022, 172：104815.
［15］沈惠平,杜中秋,孟庆梅.一种全铰链两支链两平移并联机构:CN115351771A［P］.2022-09-05.
SHEN Huiping, DU Zhongqiu, MENG Qingmei.A Full Hinge Two Branches and Two Translation Parallel Mechanism：CN115351771A［P］. 2022-09-05.
［16］沈惠平.机器人机构拓扑特征运动学［M］.北京：高等教育出版社, 2021.
SHEN Huiping. Topological Characteristics-based Kinematics for Robotic Mechanism［M］. Beijing：Higher Education Press, 2021.
［17］SHEN H P, ZHAO Y N, LI J, et al. A Novel Partially-decoupled Translational Parallel Manipulator with Symbolic Kinematics, Singularity Identification and Workspace Determination［J］. Mechanism and Machine Theory, 2021, 164：04388.
［18］WU G L, BAI S P, KEPLER J. MobilePlatform Center Shift in Spherical Parallel Manipulators with Flexible Limbs［J］. Mech. Mach. Theory，2014，75：12-26.
［19］WU G L, ZOU P. Stiffness Analysis and Comparison of a Biglide Parallel Grinder with Alternative Spatial Modular Parallelograms［J］. Robotica，2017，35（6)：1310-1326.
［20］WU G, SHEN H. Parallel PnP Robots—Parametric Modeling, Performance Evaluation and Design Optimization［M］. Singapore：Springer， 2020.
［21］孙驰宇,沈惠平,王一熙,等.零耦合度部分运动解耦三平移并联机构刚度建模与分析［J］.农业机械学报,2020,51(6):385-395.
SUN Chiyu, SHEN Huiping, WANG Yixi, et al. Stiffness Analysis of Three-translation Parallelmechanism with Zero Coupling Degree and Partial Motion Decoupling［J］.Transactions of the Chinese Society for Agricultural Machinery, 2020,51（6):385-395.
［22］杨廷力.机械系统基本理论:结构学·运动学·动力学［M］. 北京：机械工业出版社, 1996.
YANG Tingli. Basic Theory of Mechanical Systems:Structure·Kinematics·Dynamics［M］. Beijing:China Machine Press, 1996.
［23］沈惠平,肖思进,尤晶晶, 等.一平移两转动并联运动振动筛动力学建模与精度分析［J］.农业机械学报,2021,52(2):394-400.
SHEN Huiping, XIAO Sijin, YOU Jingjing, et al. Dynamic Modeling and Precision Analysis of Parallel vibrating Screen with One-translation and Two Rotation［J］.Transactions of the Chinese Society for Agricultural Machinery, 2021,52（2):394-400.
［24］黄凯伟,沈惠平,李菊, 等.一种具有部分运动解耦和符号式位置正解的空间2T1R并联机构拓扑设计与动力学建模［J］.中国机械工程,2022,33(2):160-169.
HUANG Kaiwei, SHEN Huiping, LI Ju, et al. Topological Design and Dynamics Modeling of a Spatial 2T1R Parallel Mechanism with Partially Motion Decoupling and Symbolic Forward Kinematics［J］. China Mechanical Engineering, 2022,33（2):160-169.

[1]	李明磊, 贾育秦, 张学良, 刘丽琴, 杜娟, 温淑花, 兰国生. 基于多目标差异演化算法的并联机构结构优化 [J]. J4, 201016, 21(16): 1915-1920.
[2]	鲁开讲, 师俊平, 张锋涛. 平面三自由度并联机构动力学优化设计 [J]. J4, 201016, 21(16): 1926-1931.
[3]	战晓磊, 辛洪兵, 汉斯·彼德　兰特斯. 基于虚拟现实的MOTOMAN-HP3型机器人运动学仿真 [J]. J4, 201016, 21(16): 1952-1954,1998.
[4]	周松, 陈宇, 董红亮, 高翔, 申娟, 周佳, 万鑫铭. 一种新型商用车驾驶室多轴道路虚拟试验研究[J]. 中国机械工程, 2023, 34(10): 1241-1250.
[5]	陈恒通, 王晓光, 江海龙, 林麒. 两种典型六自由度支撑机构大迎角运动特性分析与对比[J]. 中国机械工程, 2023, 34(06): 641-649.
[6]	刘繁茂, 廖灿灿, 张原愿, 莫寒. 新型碟式太阳能聚光器跟踪机构优化设计[J]. 中国机械工程, 2023, 34(04): 395-403.
[7]	刘昊林, 刘小川, 任佳, 王计真, 董久祥, 方正. 无人直升机六足式起落架设计与控制算法[J]. 中国机械工程, 2023, 34(04): 421-430，439.
[8]	陈鑫, 刘江南, 龙汪鹏, 吕剑文. 多交叉曲梁簧片柔性铰链的力学建模与性能分析[J]. 中国机械工程, 2023, 34(03): 269-276，286.
[9]	董成林, 蔡龙奇, 李毅, 路彤, 张路科. 基于并联机构的三维动力吸振器各向同性设计及减振特性研究[J]. 中国机械工程, 2023, 34(03): 307-313.
[10]	梁志强, 石贵红, 杜宇超, 叶玉玲, 籍永建, 陈司晨, 仇天阳, 刘志兵, 周天丰, 王西彬. 考虑主轴-刀柄结合面特性的机器人铣削系统刀尖频响预测研究[J]. 中国机械工程, 2023, 34(01): 2-9.
[11]	尹海斌, 陶鉴, 李骞, 周佳, . 一种结构解耦型变刚度驱动软体手抓握能力分析[J]. 中国机械工程, 2023, 34(01): 27-35.
[12]	赵雷雷, 于曰伟, 曹建虎, 高尚鹏, 周长城, 袁建. 新型准零刚度非线性悬置座椅特性分析与参数匹配[J]. 中国机械工程, 2023, 34(01): 36-46.
[13]	何宇凡, 孙江宏, 高锋, 李乃峥, 何雪萍, 王军见. 一种针对圆锥体外表面贴装的机械手设计分析与优化[J]. 中国机械工程, 2023, 34(01): 55-64.
[14]	刘俊, 阮小栋, 杨鹏亮, 吴迪, 郑敏毅. 变胞机器人重构及转向时足着地柔顺性控制[J]. 中国机械工程, 2022, 33(24): 2917-2926.
[15]	何昱龙, 琚长江, 杨根科, 王成光 , . 运动学约束下直线转角非对称平滑加工规划[J]. 中国机械工程, 2022, 33(22): 2655-2663.