一种新型五自由度混联机械手的概念设计及尺度综合

中国机械工程 ›› 2011, Vol. 22 ›› Issue (16): 1900-1905.

一种新型五自由度混联机械手的概念设计及尺度综合

李彬1,2;黄田1;张利敏1;赵新华2

1.天津大学,天津,300072

2.天津理工大学,天津,300384

出版日期:2011-08-25 发布日期:2011-08-30
基金资助:
国家高技术研究发展计划(863计划)资助项目(2009AA04Z219)
National High-tech R&D Program of China (863 Program) （No. 2009AA04Z219）

Conceptual Design and Dimensional Synthesis of a Novel 5-DOF Hybrid Manipulator

Li Bin1,2;Huang Tian1;Zhang Limin1;Zhao Xinhua2

1.Tianjin University,Tianjin,300072

2.Tianjin University of Technology,Tianjin,300384

Online:2011-08-25 Published:2011-08-30
Supported by:
National High-tech R&D Program of China (863 Program) （No. 2009AA04Z219）

摘要/Abstract

摘要：

研究了一种新型的五自由度混联机械手,该机械手由一个三自由度并联机构和一个二自由度旋转头串接而成。在建立三自由度并联机构全雅可比矩阵的基础上，考察机构外力、外力矩对支链驱动力及约束力的映射关系，提出在给定载荷下，支链驱动力及约束力全域最大值均值最小的机构传动性能评价指标。给定机构期望工作空间，并以全局条件数、速度、精度为机构的操作性能指标，研究三自由度并联机构的尺度综合问题。通过单调性分析得到机构尺度参数对上述各指标的影响规律图谱，获得其优化设计区域，根据实际设计要求确定了参数变量。最后给出一组算例，验证了该尺度综合方法的有效性。

关键词:

混联机械手, 概念设计, 尺度综合, 全雅可比矩阵

Abstract:

A novel 5 degree-of-freedom(DOF) hybrid manipulator were presented. The manipulator was composed of a 3-DOF parallel mechanism which was serially connected with a 2-DOF rotating head. On the basis of the formulation of the overall Jacobian matrix of the parallel mechanism, the mapping characteristics among the external force and moment applied on the moving platform and actuation and constraint forces of the links were investigated, and a transmission capability index was proposed for minimizing the maximum actuation and constraint forces of the links for a given set of external force and moment. Dimensional synthesis of the 3-DOF parallel mechanism was carried out under various geometrical and performance constrains in term of global conditioning index, linear velocity and accuracy for a given task space. The results of the optimal kenimatic design were given via examples.

Key words: hybrid robot, conceptual design, dimensional synthesis, overall Jacobian matrix

中图分类号:

TH112

李彬1, 2, 黄田1, 张利敏1, 赵新华2.

一种新型五自由度混联机械手的概念设计及尺度综合

[J]. 中国机械工程, 2011, 22(16): 1900-1905.

LI Ban-1, 2, HUANG Tian-1, ZHANG Li-Min-1, DIAO Xin-Hua-2.

Conceptual Design and Dimensional Synthesis of a Novel 5-DOF Hybrid Manipulator

[J]. China Mechanical Engineering, 2011, 22(16): 1900-1905.

参考文献

[1]黄田 [1],李曚 [1],吴孟丽 [1],梅江平 [1],赵学满 [1],Hu S.Jack [2].可重构PKM模块的选型原则——理论与实践[J].机械工程学报,2005,41(8):36-41.
[2]汪劲松[1],黄田[2].并联机床——机床行业面临的机遇与挑战[J].中国机械工程,1999,10(10):1103-1107.
[3]Neumann K E. Next Generation Tricept--a True Revolution in Parallel Kinematics[C]//Proceedings of the 4th Chemnitz Parallel Kinematics Seminar. Zwickau, Germany, 2004 :591-594.
[4]黄真等著.并联机器人机构学理论及控制[M],1997:410.
[5]Lou Y J, Zhang D J, Li Z X. Optimal Design of a Parallel Machine Based on Multiple Criteria[C]// Proceedings of the 2005 IEEE International Conference on Robotics and Automation. New York: IEEE,2005 :3219-3224.
[6]Neumann K E. System and Method for Controlling a Robot.. US, 6301525[P]. 2001-10-09.
[7]Neumann K E. Tricept Applications[C]//Proceedings of the 3rd Chemnitz Parallel Kinematic Seminar, Verlag Wissenschaftliche Scripten. Zwickau, Germany, 2002:547-551.
[8]Dorries Scharmann Technologie GmbH- SprintZ3[EB/OL]. [2006-12-10]. http://www, ds-technologie, de/v3/products/index, php? id = 31& group_id= 9.
[9]Ryu J,Cha J. Optimal Architecture Design of Paral- lel Manipulators for Best Accuracy [C]//Proceedings of 2001IEEE/RSJ International Conference on Intelligent Robots and Systems. New York: IEEE, 2001 : 1281-1286.
[10]Honnshoff H K, Grendel H K R. Structure and Characteristics of the Hybrid Manipulator George V[J]. Mechanism and Machine Theory, 2001,36: 1073-1085.
[11]Huang T, Li M, Zhao sign and Dimensional X M, et al. Conceptual De- Synthesis for a 3- DOF Module of the TriVariant- A Novel 5- DOF Reconfigurable Hybrid Robot [J]. IEEE Trans. Robot. Autom. ,2005,21(3) ..449-456.
[12]Li M,Huang T,Mei J P,Zhao X M,et al. Dynamic Formulation and Performance Comparison of the 3 --DOF Modules of Two Reconfigurable PKMs- the Tricept and the TriVariant[J]. ASME Journal of Mechanical Design,2005,127(6) :1129-1136.
[13]Liu H T, Huang T,Zhao X M,et al. Optimal Design of the TriVairant Robot to Achieve a Nearly Axial Symmetry of Kinematic Performance[J]. Mechanism and Machine Theory, 2007, 42 (12) :1643-1652.
[14]姜兵,黄田.求解6—PSS并联机器人操作机姿态熔间的瞬时机架法[J].机械工程学报,2000,36(9):5-10.
[15]刘辛军[1],张立杰[2],等.基于AutoCAD平台的六自由度并联机器人位置工作空间的解析求解方法[J].机器人,2000,22(6):457-464.
[16]Liu X J, Wang J S, Pritschow G. Performance Atlases and Optimum Design of Planar 5R Symmetrical Parallel Mechanisms[J]. Mechanism and Machine Theory, 2006,41 (2):119-144.
[17]Kim H S, Tsai L W. Kinematics Synthesis of a Spatial 3 - RPS Parallel Manipulator[J]. ASME Journal of Mechanical Design, 2003, 125 (1) : 92- 97.