一种3-DOF并联机械手的研制

摘要/Abstract

摘要： 提出了一种采用(U+UPS)P+UPS弱耦合并联机构的3-DOF机械手。首先，推导出机构的位置反解，建立机构的速度映射模型，并建立了机构的驱动、约束静力学传递方程。然后，对机构的工作空间进行分析，绘制出工作空间三维分布图以及雅可比矩阵条件数在工作空间内的三维分布图。通过定义运动灵活性评价指标对机构进行运动灵活性分析，绘制出结构参数与运动灵活性评价指标之间的关系曲线；通过定义静力承载性能评价指标对机构进行静力学分析，绘制出结构参数与机构静力承载性能评价指标之间的关系曲线。采用蒙特卡罗法进行结构参数设计，选取了一组综合性能较好的结构参数：机械手的固定平台万向副分布直角边长为240mm，运动平台球面副与参考点间距为80mm，中间连接杆球面副与主UP支链轴线间距为90mm，主UP支链与中间连接杆的固接点到万向副间距为600mm。最后，研制出机械手的实验样机，对机械手实验样机进行了力学标定，验证了机械手样机结构的合理性。

关键词: 机械手, 轮毂打磨, 并联机构, 运动学分析, 静力学分析, 试验样机

Abstract: A new type of 3-DOF manipulators based on (U+UPS)P+UPS mechanisms was proposed. Firstly, the inverse position equation was presented, the velocity transmission model and the statics transmission equation were established respectively. Also, the 3D maps of the workspaces and the 3D maps of condition number of Jacobian matrix in the workspaces were drawn by searching method. Then, a set of kinematics performance evaluation indexes were defined, and the relationship curves among structure parameters and the kinematics performance evaluation indexes were drawn. A set of statics performance evaluation indexes were defined, and the relationship curves among structural parameters and the statics performance evaluation indexes were drawn. The structural parameters were analyzed by Monte Carlo method. An excellent set of structural parameters is found: the distance between two universal joint's rotation center points of the fixed platform is as 240 mm, the distance between spherical joint's rotation center point and UP branch's connect point of the moving platform is as 80 mm, the distance between middle connecting rod's spherical joint's rotation center point and UP branch's center line is as 90mm, the distance between middle connecting rod and UP branch's universal joint's rotation center points is as 600mm. Finally, the prototype was made. The statics calibration experiments of the manipulator were carried out, and the manipulator structure was proved to be reasonable.

Key words: manipulator, wheel grinding, parallel mechanism, kinematics analysis, statics analysis, prototype

中图分类号:

TP242.6

荣誉1,2,3;刘双勇3;王洪斌1;韩勇3. 一种3-DOF并联机械手的研制[J]. 中国机械工程.

RONG Yu1,2,3;LIU Shuangyong3;WANG Hongbin1;HAN Yong3. Development of a 3-DOF Parallel Manipulator[J]. China Mechanical Engineering.

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