基于方位特征方法的串联机构型综合的计算机自动生成

摘要/Abstract

摘要： 研究了基于方位特征（POC）集方法的串联机构型综合的算法及其计算机自动化实现方法。建立了串联机构型综合的算法，提出了一种新的串联机构末端构件方位特征集移动/转动维数及方向的表述方法；详细说明了基于C语言的n-DOF串联机构型综合的算法及其程序自动实现过程；使用MATLAB设计该程序的界面，优化了该程序人机交互的友好性;以4-DOF串联机构型综合为例说明，该程序可自动生成理论上存在的10种1T3R、23种2T2R、85种3T1R串联机构构型。使用该程序进行串联机构型综合，仅需用户键入期望生成机构的方位特征集，即可自动生成符合预期要求的串联机构，操作简单、方便，具有较好的实用性。

关键词: 串联机构, 方位特征集, 计算机自动生成, 拓扑结构设计, 型综合

Abstract: The serial mechanism type synthesis algorithms and the computer automation implementation were studied based on POC set. Firstly, the algorithm for serial mechanism type synthesis was established, and a new expression method for the dimensions and directions of the serial mechanism end-reactor's translations and rotations was proposed. This paper specifically described the processes on algorithm and automation implementation of n-DOF serial mechanism which were based on C language. Secondly, the program interface was completed by MATLAB which optimized the human-computer interactions. Finally, using the 4-DOF serial mechanism type synthesis as an example, the program may automatically generate 10 kinds of 1T3R serial mechanisms, 23 kinds of 2T2R serial mechanisms and 85 kinds of 3T1R serial mechanisms. The users only needed to input the POC set of the mechanisms which they wanted to create, and then the program may automatically generate the results, this operation has good usability and universality.

Key words: serial mechanism, position and orientation characteristics(POC) set, computer automatic generation;topology structure design, type synthesis

中图分类号:

TH112

孙驰宇, 沈惠平, 朱小蓉, 杨廷力. 基于方位特征方法的串联机构型综合的计算机自动生成[J]. 中国机械工程.

SUN Chiyu, SHEN Huiping, ZHU Xiaorong, YANG Tingli. Computer Automatic Generation of Serial Mechanism Type Synthesis Based on POC Method[J]. China Mechanical Engineering.

参考文献

[1]GOGU G. Structural Synthesis of Fully-isotropic Parallel Robots with Schonflies Motions via Theory of Linear Transformations and Evolutionary Morphology[J]. Eur. J. Mech. A Solids, 2007,26:242-269.
[2]GOGU G. Structural Synthesis of Fully-isotropic Translational Parallel Robots via Theory of Linear Transformations[J]. Eur. J. Mech. A Solids,2004,23:1021-1039.
[3]KONG X, GOSSELIN C M. Type Synthesis of Parallel Mechanisms[J]. Springer Tracts in Advanced Robotics,2007,33(31):66-70.
[4] HUANG Z, LI Q C. Type Synthesis of Symmetrical Lower-mobility Parallel Mechanisms Using the Constraint-synthesis Method[J]. Int. J. Robot Res.,2003,22(2):55-79.
[5]LI Q C, HUANG Z, HERVE J M. Type Synthesis of 3R2T 5-DOF Parallel Mechanisms Using the Lie Group of Displacements[J]. IEEE Trans. Rob. Autom， 2004,20(4):173-180.
[6]杨廷力,刘安心,罗玉峰,等.机器人机构拓扑结构设计[M]// 北京：科学出版社,2012：17-150.
YANG Tingli, LIU Anxin, LUO Yufeng, et al. Theory and Application of Robot Mechanism Topology[M]// Beijing: Science Press,2012:17-150.
[7]JIN Q, YANG T L, LIU A X, et.al. Theory for Topology Synthesis of Parallel Manipulators and Its Application to Three-dimension-translation Parallel Manipulators[J]. ASME J. Mech. Des.，2004,126(7):625-639.
[8]邓嘉鸣,余同柱,沈惠平,等. 基于方位特征的六自由度并联机构型综合[J]. 中国机械工程，2012，23(21):2525-2640.
DENG Jiaming, YU Tongzhu, SHEN Huiping, et al. Type Synthesis for 6-DOF Novel Parallel Mechanisms Based on POC Set Method [J]. China Mechanical Engineering, 2012,23(21):2525-2640.
[9]余同柱,沈惠平,邓嘉鸣,等. 方位特征集法在三平移并联机构型综合中的应用[J]. 机械设计，2012，29(8):48-54.
YU Tongzhu, SHEN Huiping, DENG Jiaming, et al. Application of POC Set Method in Structural Synthesis of 3-translational Parallel Manipulator [J]. Journal of Machine Design,2012,29(8):48-54.
[10]杨廷力,金琼,刘安心,等. 基于单开链单元的欠秩并联机器人机构型综合的一般方法[J]. 机械科学与技术,2001,20(3):321-325.
YANG Tingli, JIN Qiong, LIU Anxin, et al. A General Method for Structural Synthesis of the Degenerate-rank Parallel Robot Mechanisms Based on the Units of Single-opened-chain [J]. Mechanical Science and Technology,2001,20(3):321-325.
[11]罗玉峰,姚伟科,石志新,等. 基于方位特征集的两平移两转动并联机构拓扑结构综合与分类[J]. 机床与液压，2011,39(3):22-25.
LUO Yufeng, YAO Weike, SHI Zhixin, et al, Structural Synthesis and Classification of 2-translational and 2-rotation Parallel Manipulator Based on POC Approach [J]. Machine Tool & Hydraulics,2011,39(3):22-25
[12]DOBRJANSKYJ L, FREUDENSTEIN F. Some Applications of Graph Theory to Structural Analysis of Mechanisms[J]. J. Eng. Indust., ASME Trans.,1967,89(6):153-158.
[13]OLSON D G, THOMPSON T R, RILEY D R, et al. An Algorithm for Automatic Sketching of Planar Kinematic Chains[J]. Journal of Mechanical Design,1985,107(1):106-111.
[14]BELFIORE N P, PENNESTRI E. Automatic Sketching of Planar Kinematic Chains[J]. Mechanism and Machine Theory,1994,29(1):177-193.
[15]MRUTHYUNJAYA T S, RAGHAVAN M R. Computer Aided Analysis of the Structure of Kinematic Chains[J]. Mechanism and Machine Theory,1984,19(3):357-368.
[16]曹文煞.空间多环耦合机构数字化构型综合理论[D].秦皇岛：燕山大学，2014.
CAO Wensha. Digital Type Synthesis Theory of Spatial Multi-loop Coupled Mechanisms [D].Qinhuangdao：Yanshan University，2014.
[17]DING Huafeng, CAO Wenao. Computer-aided Structural Synthesis of 5-DOF Parallel Mechanisms and the Establishment of Kinematic Structure Databases [J]. Mechanism and Machine Theory,2015,83(3):14-30.
[18]MENG Xiangdun, GAO Feng. Aframework for Computer-aided Type Synthesis of Parallel Robotic Mechanisms [J]. Mechanical Engineering Science.2014,56(5):1-9.
[19]ZENG Qing, FANG Yuefa. Structuural Synthesis of Serial-parallel Hybrid Mechanisms Based on Representation and Operation of Logical Matrix [J]. Journal of Mechanisms and Robotics,2009,1(2):1-10.