一种可重构、部分运动解耦的空间n维平移1维转动并联机构的拓扑及其运动学设计

摘要/Abstract

摘要： 根据基于方位特征(POC)方程的并联机构拓扑设计理论与方法，提出了一种动平台可重构的三自由度并联机构RPa3R-R+RSS。对该机构的运动输出特性进行分析，表明该机构动平台能产生空间n维平移1维转动（nT1R,n=2，3）的输出运动且具有部分运动解耦性,通过动平台的重构可赋予动平台的转动绕3个特定转动轴x、y、z输出；计算了机构的自由度和耦合度；基于序单开链的运动学建模原理，建立了该机构动平台绕任意转动轴输出构型下的通用运动学模型；对动平台绕z轴转动输出构型下的运动学进行了分析，包括位置正反解、工作空间形状与大小、动平台转动能力、机构的奇异位形条件，以及机构的速度和加速度计算与仿真分析。

关键词: 并联机构, 可重构, 运动学分析, 寄生运动, 工作空间, 奇异位形

Abstract: According to the design theory for parallel mechanism based on positions and orientation characteristics (POC), a new 3-DOF PM with reconfigurable moving platform RPa3R-R+RSS, was proposed． Firstly, the output characteristics of the PM were analyzed, which show that the moving platform may produce n-translation and 1-rotation (nT1R, n=2,3) and has partial motion decoupling. The PM may produce a specific rotational output motion around one of three specific axes x, y, z by reconfigurable architecture of the moving platform. The degree of freedom and the coupling degree of the PM were calculated. Secondly, a general kinematics model of the PM for a configuration of arbitrary rotational shaft of the moving platform was established according to the kinematic molding principles based on the ordered single-open-chain（SOC） units. Lastly, the kinematics of the output configuration of moving platform with rotating around the z axis were analyzed, including the positive and inverse position solutions, workspace, rotation capability, singularity conditions, and the calculation and simulation of velocity and acceleration.

Key words: parallel mechanism(PM), reconfigurable, kinematics analysis, parasitic motion；workspace；singularity

中图分类号:

TH112

沈惠平;赵迎春;许可;张震;杨廷力. 一种可重构、部分运动解耦的空间n维平移1维转动并联机构的拓扑及其运动学设计[J]. 中国机械工程.

SHEN Huiping;ZHAO Yingchun;XU Ke;ZHANG Zhen;YANG Tingli. Topology and Kinematics Design of Spatially nT1R-type Reconfigurable and Partial Motion Decoupling Parallel Mechanism[J]. China Mechanical Engineering.

参考文献

[1]CALVEL R, DELTA. A Fast Robot with Parallel Geometry[C]// Proceedings of International Symposium on Industrial Robots. Sydney, 1988:91-100.
[2]黄真,孔令富,方跃法.并联机器人机构学理论及控制[M].北京:机械工业出版社,1996.
HUANG Zhen, KONG Lingfu, FANG Yuefa. Theory and Control of Parallel Robot Mechanism[M]. Beijing: China Machine Press, 1996.
[3]HUANG Z, FANG Y F. Kinematics Characteristics Analysis of 3-DOF Parallel Actuated Pyramid Mechanisms[J]. Mechanism and Machine Theory, 1996,31(8):1009-1018.
[4]GROGORIO R D. Kinematics of a New Spherical Manipulator with Three Equal Legs: the 3-URC Wrist[J]. Journal of Robotic Systems, 2001, 18(5):213-219.
[5]尹小琴，马履中，杨廷力. 新型虚拟轴三维坐标测量机构3-RRC的运动分析[J]. 中国机械工程, 2003,14(13):1147-1149.
YIN Xiaoqin, MA Lyuzhong, YANG Tingli. Kinematic Analysis of a New Virtual Coordinate Measuring Machine Based on 3-RRC Parallel Mechanism[J]. China Mechanical Engineering, 2003,14(13):1147-1149.
[6]于海波,赵铁石,李仕华.空间3-SPS/S对顶双锥机构的运动学分析[J].机械设计,2007，24(2):11-14.
YU Haibo，ZHAO Tieshi, LI Shihua. The Kinematic Analysis of Top Double Cone Mechanism of Spatial 3-SPS/S[J]. Journal of Mechanism Design，2007，24(2):11-14.
[7]郭盛, 梁艺瀚, 王志群,等. 基于虚拟仿真的并联构型手控器动力学建模与力反馈控制[J]. 机器人, 2015(2):224-230.
GUO Sheng, LIANG Yihan, WANG Zhiqun，et al．Dynamic Modeling and Force-feedback Control of Haptic Device with Parallel Structure Based on Virtual Simulation[J]. Robot, 2015(2): 224-230.
[8]HUNT K. Structural Kinematics of In-parallel-actuated Robot-arms[J]. Journal of Mechanical Design，1983，105(4): 705-712.
[9]JOSHI S A，TSAI L W. Jacobian Analysis of Limited-DOF Parallel Manipulators[J]. Journal of Mechanical Design，2002，124(2)：254-258.
[10]HUANG T, LI M, ZHAO X M, et al. Conceptual Design and Dimensional Synthesis for a 3-DOF Module of the TriVariant: a Novel 5-DOF Reconfigurable Hybrid Robot[J]. IEEE Transaction on Robotics, 2005,21(3): 449-456.
[11]NEUMANN K E. Parallel-kinematical Machine：Australia, WO2006/054935[P]. 2006-05-26.
[12]OLAZAGOITIA J L, WYATT S. New PKM Tricept T9000 and Its Application to Flexible Manufacturing at Aerospace Industry[J]. SAE Technical Paper，2007-01-3820.
[13]ZOPPI M, ZLATANOV D, MOLFINO R. Kinematics Analysis of the Exechon Tripod[C]//Proceedings of the ASME 2010 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE. Quebec, 2010:1-8.
[14]LI Q，HERVE J M. 1T2R Parallel Mechanisms without Parasitic Motion[J]. IEEE Transactions on Robotics, 2010，26(3)：401-410.
[15]王飞博,吴伟峰,陈祥,等. 基于运动/力传递特性的1T2R并联机构构型优选[J]. 机械工程学报, 2014,50(23):20-28.
WANG Feibo，WU Weifeng，CHEN Xiang，et al．Optimal Type Selection of 1T2R Parallel Mechanisms Based on Motion/Force Transmissibility[J]. Journal of Mechanical Engineering, 2014, 50(23):20-28.
[16]王飞博,陈巧红,武传宇,等. 2-UPR-SPR并联机构尺度综合[J]. 机械工程学报,2015,51(21):24-32.
WANG Feibo，CHEN Qiaohong，WU Chuanyu，et al. Dimensional Synthesis of a 2-UPR-SPR Parallel Manipulator[J]. Journal of Mechanical Engineering, 2015,51(21):24-32.
[17]汪满新,黄田. 1T2R3自由度并联机构拓扑结构综合[J]. 机械工程学报,2015,51(17):1-7.
WANG Manxin，HUANG Tian. Type Synthesis of 1T2R 3-DOF Parallel Mechanism[J]. Journal of Mechanical Engineering, 2015,51(17):1-7.
[18]胡微微,梅瑛,王书森,等. 新型并联机构((2-RPR&RP)+R)&UPR构型及位置逆解分析[J]. 机械传动,2016,40(9):13-16.
HU Weiwei, MEI Ying, WANG Shusen, et al. Configuration and Inverse Position Solution Analysis of a Novel((2-RPR&RP)+R) &UPR Parallel Mechanism[J]. Journal of Mechanical Transmission, 2016,40(9):13-16.
[19]KONG X W, GOSSELIN C M. Type Synthesis of 3-DOF PPR-equivalent Parallel Manipulators Based on Screw Theory and the Concept of Virtual Chain[J]. ASME Journal of Mechanical Design, 2005, 127: 1113-1121.
[20]杨宁,马履中,艾永强,等.两平移一转动并联机构型综合研究[J].机械设计与研究, 2005, 21(5): 29-32.
YANG Ning，MA Lüzhong，AI Yongqiang，et al. Study on Structure Synthesis of Two Translations and One Rotation Parallel Mechanism[J]. Machine Design and Research，2005，21(5): 29-32.
[21]REFAAT S, HERVE J M, NAHAVANDI S. A Symmetrical Three-DOFs Rotational-translational Parallel-kinematics Mechanisms Based on Lie Group Theory[J]. European Journal of Mechanics A/Solids, 2006, 25:550-558.
[22]张彦斌,吴鑫,刘宏昭,等.无奇异完全各向同性2T1R型并联机构的结构综合[J].中国机械工程,2008,19(3): 277-281.
ZHANG Yanbin，WU Xin，LIU Hongzhao，et al. Structural Synthesis of Singularity-free Fully-isotropic Parallel Mechanisms with 2T1R-type[J]. China Mechanical Engineering, 2008,19(3): 277-281.
[23]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: Science Press,2012.
[24]刘平松.I4R型并联机器人全域性能及其优化研究[D]. 南京:南京理工大学,2013.
LIU Pingsong. Global Performance and Optimization of I4R Parallel Robot[D]. Nanjing: Nanjing University of Science and Technology,2013.