2RPU/UPR+RP五自由度混联机器人静刚度分析

中国机械工程

2RPU/UPR+RP五自由度混联机器人静刚度分析

张东胜1,2;许允斗1,2;姚建涛1,2;赵永生1,2

1.燕山大学河北省并联机器人与机电系统实验室，秦皇岛，066004
2.燕山大学先进锻压成形技术与科学教育部重点实验室，秦皇岛，066004

出版日期:2018-03-25 发布日期:2018-03-21
基金资助:
国家重点研发计划资助项目（2017YFB1301901）;
国家自然科学基金资助项目(51405425)；
河北省重点基础研究项目(15961805D)；
河北省自然科学基金资助项目(E2017203387)；
燕山大学创新研究助手支持项目(CXZS201702)
National Key Research and Development Program（No. 2017YFB1301901）
National Natural Science Foundation of China （No. 51405425）
Hebei Provincial Basic Research Program（No. 15961805D）
Hebei Provincial Natural Science Foundation of China （No. E2017203387）

Static Stiffness Analysis of 2RPU/UPR+RP 5-DOF Hybrid Manipulators

ZHANG Dongsheng1,2;XU Yundou1,2;YAO Jiantao1,2;ZHAO Yongsheng1,2

1.Parallel Robot and Mechatronic System Laboratory of Hebei Province,Yanshan University,Qinhuangdao,Hebei,066004
2.Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education,Yanshan University,Qinhuangdao,Hebei,066004

Online:2018-03-25 Published:2018-03-21
Supported by:
National Key Research and Development Program（No. 2017YFB1301901）
National Natural Science Foundation of China （No. 51405425）
Hebei Provincial Basic Research Program（No. 15961805D）
Hebei Provincial Natural Science Foundation of China （No. E2017203387）

摘要/Abstract

摘要： 为快速建立基于三自由度并联机构2RPU/UPR构造出的五自由度混联机器人的解析刚度模型，首先对混联机器人的结构进行了描述；然后基于串联和并联结构独立求解思想，建立了混联机器人的位置反解模型；再对混联机器人的结构进行简化处理，分别求解并联部分与串联部分两子系统的静刚度模型，从构造系统的力旋量系和弹性变形协调条件入手，简单且快速地建立了混联机器人的整体刚度模型；最后构造混联机器人的等效三维模型，运用有限元和MATLAB软件，对典型位姿下混联机器人受外力/力矩产生的微位移进行仿真验证，并给出了整机静刚度在任务空间中随位形变化分布图。通过仿真与理论计算的对比分析，验证了该混联机器人理论刚度模型的正确性。

关键词: 混联机器人, 并联机构, 刚度模型, 自由度

Abstract: In order to quickly establish the stiffness model of a 5-DOF hybrid manipulator based on the 3-DOF 2UPR/RPU PM, the configuration description was presented firstly. Secondly, the inverse position kinematics was obtained by solving the kinematics of PM and serial parts separately. Then, simplifying the structures of the 5-DOF hybrid manipulators, stiffness models of the parallel parts and the serial parts were established. After that, combining the wrench screw system and the deformation compatibility conditions of the 5-DOF hybrid manipulators, stiffness model of the entire system was obtained quickly and easily. At last, equivalent simplified 3D model of the 5-DOF hybrid manipulators was constructed. One typical orientation and position of the hybrid manipulators were chosen out, and micrometric displacements of the end effector under external forces/torques were simulated in virtue of finite element and MATLAB software. Stiffness distributions in the workspace were also given. Through the comparison analyses of two different methods, the correctness of the established stiffness model was verified.

Key words: hybrid manipulator, parallel mechanism（PM）, stiffness model, degree of freedom（DOF）

中图分类号:

TP242

张东胜1,2;许允斗1,2;姚建涛1,2;赵永生1,2. 2RPU/UPR+RP五自由度混联机器人静刚度分析[J]. 中国机械工程.

ZHANG Dongsheng1,2;XU Yundou1,2;YAO Jiantao1,2;ZHAO Yongsheng1,2. Static Stiffness Analysis of 2RPU/UPR+RP 5-DOF Hybrid Manipulators[J]. China Mechanical Engineering.

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