考虑工作空间与力传递效率的新型五自由度混联机器人设计与分析

中国机械工程

考虑工作空间与力传递效率的新型五自由度混联机器人设计与分析

许允斗1,2;徐郑和1;杨帆1;赵云1;梅有恩1;周玉林1,2;姚建涛1,2;赵永生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形技术与科学教育部重点实验室，秦皇岛，066004

出版日期:2019-08-25 发布日期:2019-08-27
基金资助:
国家重点研发计划资助项目(2017YFB1301901)；
国家自然科学基金资助项目(51875495)

Design and Analysis of a New 5-DOF Hybrid Robot Considering Workspace and Force Transmission Efficiency

XU Yundou1,2;XU Zhenghe1;YANG Fan1;ZHAO Yun1;MEI Youen1;ZHOU Yulin1,2;YAO Jiantao1,2;ZHAO Yongsheng1,2

1.Laboratory of Parallel Robot and Mechatronic System of Hebei Province,Yanshan University,Qinhuangdao，Hebei，066004
2.Key Laboratory of Advanced Forging &Stamping Technology and Science，Ministry of Education,Yanshan University,Qinhuangdao，Hebei，066004

Online:2019-08-25 Published:2019-08-27

摘要/Abstract

摘要： 提出了一款构型为R(2RPR)R/SP+RR的新型五自由度混联机器人，对其性能进行分析，并依据工作空间与力传递效率性能指标进行尺寸优化，获得了关键设计尺寸；在此基础上，进行混联机器人本体结构设计与刚度分析，并与其他同类典型机器人刚度进行了对比；最后分析了混联机器人工作空间，提出一种工作空间搜索方法，分析了机器人在不同布局情况下工作空间是否满足预期。

关键词: 五自由度混联机器人, 工作空间, 尺寸优化, 结构设计, 刚度分析

Abstract: A novel 5-DOF hybrid robot with the structure of R(2RPR)R/SP+RR was proposed,and the performances were analyzed.The size optimizations were carried out according to the performance indexes in both workspaces and force transmission efficiencies,and the key design dimensions were obtained.On the basis of above,the structural design and stiffness analysis of the hybrid robot were conducted.The results of stiffness were compared with other similar typical robots.The workspace of the hybrid robot was analyzed,and finally a method for workspace search was put forward to analyze whether the workspace met the exceptations under different arrangements.

Key words: 5-DOF hybrid robot, workspace, size optimization, structural design, stiffness analysis

中图分类号:

TP242

许允斗1,2;徐郑和1;杨帆1;赵云1;梅有恩1;周玉林1,2;姚建涛1,2;赵永生1,2. 考虑工作空间与力传递效率的新型五自由度混联机器人设计与分析[J]. 中国机械工程.

XU Yundou1,2;XU Zhenghe1;YANG Fan1;ZHAO Yun1;MEI Youen1;ZHOU Yulin1,2;YAO Jiantao1,2;ZHAO Yongsheng1,2. Design and Analysis of a New 5-DOF Hybrid Robot Considering Workspace and Force Transmission Efficiency[J]. China Mechanical Engineering.

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