2(2-UPR+SPR)串并联机构雅可比矩阵的建立

中国机械工程 ›› 2015, Vol. 26 ›› Issue (7): 853-858.

2(2-UPR+SPR)串并联机构雅可比矩阵的建立

胡波1,2;宋春晓1,2;张庆玲1,2;于晶晶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型技术与科学教育部重点实验室，秦皇岛，066004

出版日期:2015-04-10 发布日期:2015-04-24
基金资助:
国家自然科学基金资助项目(51305382)；河北省高等学校科学技术研究优秀青年基金资助项目(YQ2013011)；机器人技术与系统国家重点实验室开放研究基金资助项目(SKLRS-2012-MS-01)；河北省科技计划资助项目(13211610)；燕山大学机械工程学院协同创新研究项目(JX2014-02)

Jacobian Matrix Establishment of 2(2-UPR+SPR) Serial-parallel Manipulator

Hu Bo1,2;Song Chunxiao1,2;Zhang Qingling1,2;Yu Jingjing1,2

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:2015-04-10 Published:2015-04-24
Supported by:
National Natural Science Foundation of China（No. 51305382）;Hebei Provincial Science and Technology program ( No. 13211610)

摘要/Abstract

摘要：

建立了一种新型串并联机构的雅可比矩阵。首先，介绍了一种新型的2(2-UPR+SPR)串并联机构，该机构由两个2-UPR+SPR机构串联而成，它具有串联机构和并联机构的共同优点。然后，根据2-UPR+SPR机构中存在的几何约束建立了其速度约束矩阵和速度耦合矩阵。最后，分析了2(2-UPR+SPR)串并联机构的速度传递关系，通过合理处理独立并联机构的速度耦合和约束关系，建立了2(2-UPR+SPR)串并联机构整体正向和逆向雅可比矩阵。研究结果表明，2(2-UPR+SPR)机构的雅可比矩阵包含各个独立并联机构的运动、约束和耦合信息。所提出的建立2(2-UPR+SPR)机构雅可比矩阵的方法也适合其他串并联机构。

关键词: 串并联机构, Exechon机构, 雅可比矩阵, 运动学

Abstract:

The Jocobian of a novel 2(2-UPR+SPR) serial-parallel manipulator was established.First, a 2(2-UPR+SPR) serial-parallel manipulator formed by two 2-UPR+SPR mechanisms was presented. This manipulator could provide advantages of both serial and parallel manipulators. Second, the velocity decoupling and velocity constraint equations for single 2-UPR+SPR were analyzed based on the geometric constraints in the mechanism. Finally, the velocity transfer relation for the 2(2-UPR+SPR) serial-parallel manipulator was analyzed. Based on the velocity decoupling and constraint characteristics of single 2-UPR+SPR mechanism, the integral forward and inverse Jacobian matrix for 2(2-UPR+SPR) serial-parallel manipulator were established. The results show that the established Jacobian matrices contain kinematics, coupling and constraint information of each 2-UPR+SPR mechanism. The methodology for establishing the integral Jacobian matrix of the 2(2-UPR+SPR) serial-parallel manipulator herein is also fitable for other serial-parallel manipulators.

Key words: serial-parallel manipulator, Exechon manipulator, Jacobian matrix, kinematics

中图分类号:

TH112

胡波, 宋春晓, 张庆玲, 于晶晶, . 2(2-UPR+SPR)串并联机构雅可比矩阵的建立[J]. 中国机械工程, 2015, 26(7): 853-858.

Hu Bo, Song Chunxiao, Zhang Qingling, Yu Jingjing, . Jacobian Matrix Establishment of 2(2-UPR+SPR) Serial-parallel Manipulator[J]. China Mechanical Engineering, 2015, 26(7): 853-858.

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