基于结构降耦的一类低耦合度新型3T1R并联机构的拓扑设计

摘要/Abstract

摘要： 四自由度的可实现SCARA型（三平移一转动）输出运动的并联机构，与三自由度的Delta机构相比，因其本身的拓扑结构复杂，导致运动学正解以及动力学计算复杂，从而使其新机型的研究和开发应用相对困难;而降低这些机构的耦合度（简称结构降耦）可直接降低机构运动学、动力学求解的难度。根据笔者提出的机构结构降耦方法，对笔者最近提出的一类5个耦合度值κ为2且具有较好实用价值的SCARA型新型并联机构进行了结构降耦优化，得到了耦合度较低（降为κ=1）但自由度和动平台输出运动类型均保持不变的10个SCARA新机型，而这10个低耦合度（κ=1）机构的运动学正解及动力学正反解，可用一维搜索法方便求得数值解，或从易导出的1个一元高次代数方程求得封闭解，为其进一步构型拓扑优化、设计及应用研究奠定了基础。

关键词: 结构降耦；拓扑结构优化；方位特征；运动学正解, 耦合度

Abstract: Comparing to the 3-DOF Delta mechanism, the 4-DOF parallel mechanisms which might achieve selective compliance assembly robot arm(SCARA ) motion (i.e., three translations and one rotation) had their own complex topological structures, which resulted in the complexity of solutions for forward kinematics and dynamics. Therefore, the researches and developments of novel SCARA parallel mechanisms were still open issues. Reducing coupling degrees of these mechanisms might directly reduce the difficulties of solutions for forward kinematics and dynamics of the mechanisms. Based on the methods for structure coupling-reducing proposed by the authors, the structure coupling-reducing optimization design for five novel practical SCARA mechanisms whose coupling degree κ were 2 proposed by authors was performed. Ten novel SCARA mechanisms with coupling degree κ=1 were obtained, both their degrees of freedom and the output motion type of the moving platform kept to be constant. Thus, the solutions for forward kinematics and dynamics of these ten novel mechanisms with coupling degree κ=1 might be easily obtained by using one dimensional search method, or by solving a one-variable polynomial equation derived. This paper provides a theoretical basis for topological optimization, design and applications for these novel SCARA mechanisms.

Key words: structure coupling-reducing, topological structure optimization, position and orientation characteristics, forward kinematics； coupling degree

中图分类号:

TH112

沈惠平, 强恒存, 曾氢菲, 孟庆梅, 杨廷力. 基于结构降耦的一类低耦合度新型3T1R并联机构的拓扑设计[J]. 中国机械工程.

SHEN Huiping, QIANG Hengcun, ZENG Qingfei, MENG Qingmei, YANG Tingli. Topological Design for a Class of Novel 3T1R Parallel Mechanisms with Low Coupling Degree Based on Coupling-Reducing[J]. China Mechanical Engineering.

参考文献

[1]袁山.SCARA机器人——依然快捷和可靠[J].机器人技术与应用，2005(5):31-33.
YUAN Shan. SCARA Robot—Still Fast and Reliable[J]. Robot Technique and Application,2005(5):31-33.
[2]CLAVEL R. Device for the Movement and Positioning of an Element in Space： US，4976582[P]. 1990-12-11.
[3]ABB. IRB 360 Flexpicker[EB/OL]. [2015-05-06]. http： //www. new. abb. com/products/robotics/industrials-robots/irb-360.
[4]PIERROT F，COMPANY O. H4：a New Family of 4-dof Parallel Robots[C]//Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics，Atlanta. New York：IEEE，1999：508-513.
[5]KRUT S，COMPANY O，BENOIT M，et al. I4：a New Parallel Mechanism for SCARA Motions[C]// Proceedings of the IEEE International Conference on Robotics and Automation. Taipei：IEEE，2003：1875-1880.
[6]NABAT V，COMPANY O，KRUT S，et al. Part4：Very High Speed Parallel Robot for Pick-and-place[C]//Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems， Alberta. New York：IEEE，2005：1202-1207.
[7]赵铁石,黄真.欠秩空间并联机器人输入选取的理论和应用[J]. 机械工程学报，2000，36（10）：81-85.
ZHAO Tieshi, HUANG Zhen. Theory and Application of Selecting Actuating Components of Spatial Parallel Mechanisms[J]. Chinese Journal of Mechanical Engineering, 2000, 36(10): 81-85.
[8]金琼，杨廷力，刘安心，等.基于单开链单元的三平移一转动并联机器人机构型综合及机构分类[J]. 中国机械工程，2001，12（9）：1038-1043.
JIN Qiong, YANG Tingli, LIU Anxin, et al. Kinematics Analysis of a Parallel Pneumatic and Hydraulic Linkage Based on Single-opened-chain[J]. China Mechanical Engineering, 2001, 12(9): 1038-1043.
[9]杨廷力，金琼，罗玉峰，等. 用于虚轴机床与机器人等的一类(三平移一转动)并联机构：中国，200310106012.4[P].2003-10-18.
YANG Tingli, JIN Qiong， LUO Yufeng，et al. A Class of 3T1R Parallel Mechanisms Used for Virtual Axis Machine Tools and Robots：China，200310106012.4[P]. 2003-10-18.
[10]黄田，刘海涛，李曚. 五自由度机器人：中国，CN1709657[P]. 2005-7-11
HUANG Tian，LIU Haitao，LI Meng. The Robot with Five Degree of Freedom：China, CN1709657[P].2005-7-11.
[11]刘辛军，谢福贵，王立平，等. 一种可实现SCARA运动的四自由度单动平台并联机构：中国，201210435375.1[P]. 2012-11-02.
LIU Xinjun，XIE Fugui，WANG Liping，et al. A Four Freedom of Degree Parallel Mechanism with Single Moving Platform Which Can Achieve Scara Move: China，201210435375.1[P]. 2012-11-02.
[12]YANG T L. Structural Analysis and Number Synthesis of Spatial Mechanisms[C]//Proc. of the 6th World Cong. on the Theory of Machines and Mechanisms. New Delhi，1983: 280-283.
[13]SHEN Huiping，YANG Liangjie，MENG Qingmei，et al.Topological Structure Coupling-reducing of Parallel Mechanisms[C]//2015 IFToMM Wold Congress，2015, Taipei，China. DOI: 10.6567/IFToMM.14TH.WC.OS13.120.
[14]沈惠平，朱小蓉，尹洪波，等.并联机构的结构降耦原理及其设计方法[J]机械工程学报,2016,52(23):102-113.
SHEN Huiping，ZHU Xiaorong，YIN Hongbo，et al. The Principle and Design Method for Structure Coupling-reducing of Parallel Mechanisms[J]. Journal of Mechanical Engineering，2016，52（23): 102-113.
[15]YANG Tingli，LIU Anxin，SHEN Huiping，et al. Topological Structure Synthesis of 3T1R Parallel Mechanism Based on POC Equations[M]//Intelligent Robotics and Applications. Berlin:Springer International Publishing, 2016：147-161.
[16]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.
YANG Tingli， LIU Anxin， LUO Yufeng， et al. Theory and Application of Robot Mechanism Topology [M]. Beijing: China Science Press, 2012.
[17]沈惠平，杨廷力，李菊，等，一种三平移一转动并联机器人装置：中国，201510567133，1[P]. 2015-9-8.
SHEN Huiping, YANG Tingli, LI Ju, et al. A Parallel Robot Device with Three Translations and One Rotation: China, 201510567133.1[P].2015-9-8.
[18]沈惠平，熊坤，杨廷力，等.一种低耦合度三运动副动平台的三平移一转动并联机器人装置：中国，201610141841.3[P]. 2016-03-12
SHEN Huiping, XIONG Kun, YANG Tingli, et al. A Low Coupling Degree Three-translation and One-rotation Parallel Robot Device with a Three-joint Moving Platform: China, 201610141841.3[P].2016-03-12.
[19]沈惠平,曾氢菲,强恒存,等.一种低耦合度两运动副动平台的三平移一转动并联机器人装置：中国，201610141696.9 [P]. 2016-03-12.
SHEN Huiping, ZENG Qingfei, QIANG Hengcun,et al. A Low Coupling Degree Three-translation and One-rotation Parallel Robot Device with a Two-joint Moving Platform: China, 201610141696.9 [P].2016-03-12.
[20]沈惠平，杨廷力，邓嘉鸣，等.一种三平移一转动并联机器人机构：中国，201510566039.4[P].2015-9-8.
SHEN Huiping, YANG Tingli, DENG Jiaming,et al. A Parallel Robot Mechanism with Three Translations and One Rotation: China, 201510566039.4[P].2015-9-8.
[21]沈惠平,强恒存,邵国为,等.一种低耦合度三运动副动平台的三平移一转动并联机器人机构：中国，201610141468.1[P]. 2016-03-12.
SHEN Huiping, QIANG Hengcun, SHAO Guowei,et al. A Low Coupling Degree Three-translation and One-rotation Parallel Robot Mechanism with a Three-joint Moving Platform: China, 201610141468.1[P].2016-03-12.
[22]孟庆梅,沈惠平,邵国为,等.一种低耦合度两运动副动平台的三平移一转动并联机器人机构：中国，201610141831.X[P]. 2016-03-12.
MENG Qingmei, SHEN Huiping, SHAO Guowei,et al. A Low Coupling Degree Three-translation and One-rotation Parallel Robot Device with a Two-joint Moving Platform: China, 201610141831.X[P].2016-03-12.
[23]沈惠平，杨廷力，朱伟，等.一种三平移一转动并联机器人平台：中国，201510566840. 9[P]. 2015-9-8.
SHEN Huiping, YANG Tingli, ZHU Wei,et al. A Parallel Robot Platform with Three Translations and One Rotation: China, 201510566840. 9 [P]. 2015-9-8.
[24]李菊,沈惠平,强恒存,等.一种低耦合度三运动副动平台的三平移一转动并联机器人平台：中国，201610141614.0[P]. 2016-03-12.
LI Ju, SHEN Huiping,QIANG Hengcun,et al. A Low Coupling Degree Three-translation and One-rotation Parallel Robot Platform with a Three-joint Moving Platform: China, 201610141614.0[P].2016-03-12.
[25]SHEN H P，Ting K L, Yang T L. Configuration Analysis of Complex Multiloop Linkages and Manipulators[J].Mechanism and Machine Theory，2000, 35(3): 353-362.